Gilbert–Johnson–Keerthi distance algorithm: Difference between revisions

Revision as of 05:01, 24 April 2020

Revision as of 13:20, 3 August 2020

Line 21:

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

vector A := Support(p, initial_axis) − Support(q, −initial_axis)

simplex s := {A}

vector D := −A

'''loop''':

A := Support(p, D) − Support(q, −D)

'''if''' dot(A, D) < 0:

reject

s := s ∪ A

s, D, contains_origin := NearestSimplex(s)

'''if''' contains_origin: