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images on the page refer to "CSO", which is never expanded to "configuration space obstacle" (even in the article on Minkowski addition) so I'm definition it here. Also since two objects intersect precisely when one point in object A can be subtracted from object B yielding the origin I think it makes more sense to use the term Minkowski difference like in Muratori's video. |
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* <math>\mathrm{NearestSimplex}(s)</math>, which takes a simplex {{mvar|s}} and returns the simplex on {{mvar|s}} closest to the origin, and a direction toward the origin normal to the new simplex. If {{mvar|s}} itself contains the origin, {{math|NearestSimplex}} accepts {{mvar|s}} and the two shapes are determined to intersect.
The simplices handled by {{math|NearestSimplex}} may each be any simplex sub-space of {{math|'''R'''<sup>''n''</sup>}}. For example in 3D, they may be a point, a line segment, a triangle, or a [[tetrahedron]]; each defined by 1, 2, 3, or 4 points respectively.
=== Pseudocode ===
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[[File:Two types of collisions and corresponding CSO faces.svg|550px|thumb|center|The two types of collision and corresponding CSO face: face-vertex (top) and edge-edge (bottom).]]
==See
*[[Minkowski Portal Refinement]]
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