GJK.h File Reference

#include "Planners/PlannerObstacles.h"
#include "Shared/plistSpecialty.h"
#include <vector>

Include dependency graph for GJK.h:

Go to the source code of this file.

Namespaces
namespace	GJK
Functions
template<size_t N>
fmat::Column< N >	GJK::tripleProduct (const fmat::Column< N > &a, const fmat::Column< N > &b, const fmat::Column< N > &c)
	Returns (a x b) x c = b * (a • c) - a * (b • c).
template<size_t N>
bool	GJK::processLine (std::vector< fmat::Column< N > > &simplex, fmat::Column< N > &direction)
template<size_t N>
bool	GJK::processTriangle (std::vector< fmat::Column< N > > &simplex, fmat::Column< N > &direction)
template<size_t N>
bool	GJK::processTetrahedron (std::vector< fmat::Column< N > > &simplex, fmat::Column< N > &direction)
template<size_t N>
bool	GJK::processSimplex (std::vector< fmat::Column< N > > &simplex, fmat::Column< N > &direction)
template<size_t N>
fmat::Column< N >	GJK::getSupport (const PlannerObstacle< N > *obs1, const PlannerObstacle< N > *obs2, const fmat::Column< N > &direction)
template<size_t N>
bool	GJK::collides (const PlannerObstacle< N > *obs1, const PlannerObstacle< N > *obs2)