Safe Haskell	None
Language	Haskell2010

Physics.Contact.GJK

Description

Gilbert-Johnson-Keerthi (GJK) for finding the closest part of a Minkowski space to the origin.

Choose a simplex using opposite extents along some axis. Extend the simplex in the direction of the origin. If the simplex encloses the origin, stop.

The loop of GJK is:

extend the simplex along the search direction
shift to the closest component of the simplex
do this until we can't extend the simplex any more (search stopped short of the origin)

Synopsis

Documentation

2-simplex. The first element is the most recently added. (like the head of a list)

Constructors

Instances

Show Simplex3 Source #
Methods showsPrec :: Int -> Simplex3 -> ShowS # show :: Simplex3 -> String # showList :: [Simplex3] -> ShowS #

Constructors

Instances

Show Simplex2 Source #
Methods showsPrec :: Int -> Simplex2 -> ShowS # show :: Simplex2 -> String # showList :: [Simplex2] -> ShowS #

Constructors

Instances

Show Simplex1 Source #
Methods showsPrec :: Int -> Simplex1 -> ShowS # show :: Simplex1 -> String # showList :: [Simplex1] -> ShowS #

Constructors

Simplex' Simplex12
Simplex3' Simplex3

Instances

Show Simplex Source #
Methods showsPrec :: Int -> Simplex -> ShowS # show :: Simplex -> String # showList :: [Simplex] -> ShowS #

Arguments

:: Simplex2	1D simplex of 2 points
-> P2	origin (the target point)
-> (Simplex12, V2)	new simplex, new search direction

Arguments

:: Simplex3	2D simplex of 3 points
-> P2	origin (the target point)
-> Maybe (Simplex12, V2)	(new simplex, new search direction) OR simplex encloses the origin!