GJK Namespace Reference

Functions
template<size_t N>
fmat::Column< N >	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	processLine (std::vector< fmat::Column< N > > &simplex, fmat::Column< N > &direction)
template<size_t N>
bool	processTriangle (std::vector< fmat::Column< N > > &simplex, fmat::Column< N > &direction)
template<size_t N>
bool	processTetrahedron (std::vector< fmat::Column< N > > &simplex, fmat::Column< N > &direction)
template<size_t N>
bool	processSimplex (std::vector< fmat::Column< N > > &simplex, fmat::Column< N > &direction)
template<size_t N>
fmat::Column< N >	getSupport (const PlannerObstacle< N > *obs1, const PlannerObstacle< N > *obs2, const fmat::Column< N > &direction)
template<size_t N>
bool	collides (const PlannerObstacle< N > *obs1, const PlannerObstacle< N > *obs2)

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Function Documentation

template<size_t N>

bool GJK::collides	(	const PlannerObstacle< N > *	obs1,
		const PlannerObstacle< N > *	obs2
	)

Definition at line 169 of file GJK.h.

template<size_t N>

fmat::Column<N> GJK::getSupport	(	const PlannerObstacle< N > *	obs1,
		const PlannerObstacle< N > *	obs2,
		const fmat::Column< N > &	direction
	)

Definition at line 164 of file GJK.h.

Referenced by collides().

template<size_t N>

bool GJK::processLine	(	std::vector< fmat::Column< N > > &	simplex,
		fmat::Column< N > &	direction
	)

Definition at line 16 of file GJK.h.

Referenced by processSimplex(), processTetrahedron(), and processTriangle().

template<size_t N>

bool GJK::processSimplex	(	std::vector< fmat::Column< N > > &	simplex,
		fmat::Column< N > &	direction
	)

Definition at line 149 of file GJK.h.

Referenced by collides().

template<size_t N>

bool GJK::processTetrahedron	(	std::vector< fmat::Column< N > > &	simplex,
		fmat::Column< N > &	direction
	)

Definition at line 84 of file GJK.h.

Referenced by processSimplex().

template<size_t N>

bool GJK::processTriangle	(	std::vector< fmat::Column< N > > &	simplex,
		fmat::Column< N > &	direction
	)

Definition at line 30 of file GJK.h.

Referenced by processSimplex(), and processTetrahedron().

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).

Commutative only if a = c: a x (b x a) == (a x b) x a Otherwise, to get a x (b x c), call tripleProduct(b, c, -a)

Definition at line 11 of file GJK.h.

Referenced by processLine(), and processTriangle().