gkSimplex_#
Data structure for simplex. More…
#include <openGJK.h>
Public Attributes#
| Name | |
|---|---|
| int | nvrtx |
| gkFloat[4][3] | vrtx |
| int[4][2] | vrtx_idx |
| gkFloat[2][3] | witnesses |
Detailed Description#
struct gkSimplex_;Data structure for simplex.
The simplex is updated at each GJK-iteration. For the first iteration this value is a guess - and this guess not irrelevant.
Public Attributes Documentation#
variable nvrtx#
int nvrtx;Number of points defining the simplex.
variable vrtx#
gkFloat[4][3] vrtx;Coordinates of the points of the simplex.
variable vrtx_idx#
int[4][2] vrtx_idx;Indices of the points of the simplex.
variable witnesses#
gkFloat[2][3] witnesses;Witness points (closest points on each body). After calling compute_minimum_distance():
- witnesses[0] contains the closest point on bd1
- witnesses[1] contains the closest point on bd2 These are computed using barycentric coordinates from the final simplex vertices.
Updated on 2026-09-02