Module gjk

The GJK algorithm for distance computation.

Structs

CSOPoint

A point of a Configuration-Space Obstacle.

ConstantOrigin

A support mapping that is the point at (0.0, 0.0, 0.0).

ConstantPoint

A support mapping that is a single point.

DilatedShape

The Minkowski sum of a shape and a ball.

VoronoiSimplex

A simplex of dimension up to 2 using Voronoï regions for computing point projections.

Enums

GJKResult

Results of the GJK algorithm.

Functions

cast_local_ray

Casts a ray against a shape using the GJK algorithm.

closest_points

Computes the closest points between two shapes using the GJK algorithm.

directional_distance

Computes how far a shape can move in a direction before touching another shape.

eps_tol

The absolute tolerance used by the GJK algorithm.

project_origin

Projects the origin onto the boundary of the given shape.