Gilbert–Johnson–Keerthi distance algorithm: Difference between revisions

Revision as of 00:00, 19 September 2019

Revision as of 14:52, 17 December 2019

Line 18:

=== Pseudocode ===

'''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:

accept

== Illustration==