Gilbert–Johnson–Keerthi distance algorithm: Difference between revisions

Revision as of 14:52, 17 December 2019

Revision as of 13:34, 24 December 2019

Line 19:

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

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

simplex s := {A}

vector D := -A−A

'''loop''':

A := Support(p, D) -− Support(q, -D−D)

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

reject

s := s ∪ A

s, D, contains_origin := NearestSimplex(s)

'''if''' contains_origin:

accept