#include <gjk.h>
Public Types | |
| Valid | |
| Inside | |
| Failed | |
| enum | Status { Valid, Inside, Failed } |
Public Member Functions | |
| GJK (unsigned int max_iterations_, FCL_REAL tolerance_) | |
| void | initialize () |
| Status | evaluate (const MinkowskiDiff &shape_, const Vec3f &guess) |
| GJK algorithm, given the initial value guess. | |
| void | getSupport (const Vec3f &d, SimplexV &sv) const |
| apply the support function along a direction, the result is return in sv | |
| void | removeVertex (Simplex &simplex) |
| discard one vertex from the simplex | |
| void | appendVertex (Simplex &simplex, const Vec3f &v) |
| append one vertex to the simplex | |
| bool | encloseOrigin () |
| whether the simplex enclose the origin | |
| Simplex * | getSimplex () const |
| get the underlying simplex using in GJK | |
Public Attributes | |
| MinkowskiDiff | shape |
| Vec3f | ray |
| FCL_REAL | distance |
| Simplex | simplices [2] |
Classes | |
| struct | Simplex |
| struct | SimplexV |
Definition at line 110 of file gjk.h.
