gkPolytope_#

Data structure for convex polytopes. More…

#include <openGJK.h>

Public Attributes#

Detailed Description#

struct gkPolytope_;

Data structure for convex polytopes.

Polytopes are three-dimensional shapes and the GJK algorithm works directly on their convex-hull. However the convex-hull is never computed explicitly, instead each GJK-iteration employs a support function that has a cost linearly dependent on the number of points defining the polytope.

Public Attributes Documentation#

variable numpoints#

int numpoints;

Number of points defining the polytope.

variable s#

gkFloat[3] s;

Furthest point returned by the support function and updated at each GJK-iteration. For the first iteration this value is a guess - and this guess not irrelevant.

variable s_idx#

int s_idx;

Index of the furthest point returned by the support function.

variable coord#

gkFloat ** coord;

Coordinates of the points of the polytope. This is owned by user who manages and garbage-collects the memory for these coordinates.

Updated on 2026-09-02