Enum GJKResult

pub enum GJKResult {
    Intersection,
    ClosestPoints(Point<f32>, Point<f32>, Unit<Vector<f32>>),
    Proximity(Unit<Vector<f32>>),
    NoIntersection(Unit<Vector<f32>>),
}

Results of the GJK algorithm.

This enum represents the different outcomes when running the GJK algorithm to find the distance between two shapes. The result depends on whether the shapes are intersecting, how far apart they are, and what information was requested.

Understanding the Results

• Intersection: The shapes are overlapping. The origin lies inside the Minkowski difference.
• ClosestPoints: The exact closest points on both shapes were computed, along with the separation direction.
• Proximity: The shapes are close but not intersecting. Only an approximate separation direction is provided (used when exact distance computation is not needed).
• NoIntersection: The shapes are too far apart (beyond the specified max_dist threshold).

Coordinate Spaces

All points and vectors in this result are expressed in the local-space of the first shape (the shape passed as g1 to the GJK functions). This is important when working with transformed shapes.

Variants

Intersection

The shapes are intersecting (overlapping).

This means the origin is inside the Minkowski difference of the two shapes. GJK cannot compute penetration depth; use the EPA (Expanding Polytope Algorithm) for that purpose.

ClosestPoints(Point<f32>, Point<f32>, Unit<Vector<f32>>)

The closest points on both shapes were found.

Fields

• First Point: The closest point on the first shape (in local-space of shape 1)
• Second Point: The closest point on the second shape (in local-space of shape 1)
• Unit<Vector>: The unit direction vector from shape 1 to shape 2 (separation axis)

This variant is returned when exact_dist is true in the GJK algorithm and the shapes are not intersecting.

Proximity(Unit<Vector<f32>>)

The shapes are in proximity (close but not intersecting).

Fields

• Unit<Vector>: An approximate separation axis (unit direction from shape 1 to shape 2)

This variant is returned when exact_dist is false and the algorithm determines the shapes are close but not intersecting. It’s faster than computing exact closest points when you only need to know if shapes are nearby.

NoIntersection(Unit<Vector<f32>>)

The shapes are too far apart.

Fields

• Unit<Vector>: A separation axis (unit direction from shape 1 to shape 2)

This variant is returned when the minimum distance between the shapes exceeds the max_dist parameter passed to the GJK algorithm.

Trait Implementations

impl Clone for GJKResult

fn clone(&self) -> GJKResult

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for GJKResult

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl PartialEq for GJKResult

fn eq(&self, other: &GJKResult) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl StructuralPartialEq for GJKResult