Module parry3d::query::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 tolerence used by the GJK algorithm.
• project_origin
  Projects the origin on the boundary of the given shape.