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 3 that uses Voronoï regions for computing point projections.

Enums

GJKResult

Results of the GJK algorithm.

Functions

cast_local_ray

Casts a ray on a support map using the GJK algorithm.

closest_points

Projects the origin on a shape using the Separating Axis GJK algorithm. The algorithm will stop as soon as the polytope can be proven to be at least max_dist away from the origin.

directional_distance

Compute the normal and the distance that can travel g1 along the direction dir so that g1 and g2 just touch.

eps_tol

The absolute tolerance used by the GJK algorithm.

project_origin

Projects the origin on the boundary of the given shape.