Gilbert–Johnson–Keerthi distance algorithm: Difference between revisions

Revision as of 01:15, 1 June 2014

Revision as of 20:17, 21 October 2014

Line 20:

<code>

function GJK_intersection(shape p, shape q, vector initial_axis):

vector DA = Support(p, initial_axis) - Support(q, -initial_axis)

simplex S = {A}

vector D = -A

loop:

vector A = Support(p, D) - Support(q, -D)

if dot(A, D) < 0:

reject