coal::details::GJK::Simplex Struct Reference

A simplex is a set of up to 4 vertices. Its rank is the number of vertices it contains. More...

#include <gjk.h>

Public Member Functions
void	reset ()
	Simplex ()

Public Attributes
vertex_id_t	rank
	size of simplex (number of vertices) More...
SimplexV *	vertex [4]
	simplex vertex More...

Detailed Description

A simplex is a set of up to 4 vertices. Its rank is the number of vertices it contains.

Note

This data structure does not own the vertices it refers to. To be efficient, the constructor of GJK creates storage for 4 vertices. Since GJK does not need any more storage, it reuses these vertices throughout the algorithm by using multiple instance of this Simplex class.

Definition at line 71 of file coal/narrowphase/gjk.h.

Constructor & Destructor Documentation

Simplex()

coal::details::GJK::Simplex::Simplex ( )

inline

Definition at line 77 of file coal/narrowphase/gjk.h.

Member Function Documentation

reset()

void coal::details::GJK::Simplex::reset ( )

inline

Definition at line 79 of file coal/narrowphase/gjk.h.

Member Data Documentation

rank

vertex_id_t coal::details::GJK::Simplex::rank

size of simplex (number of vertices)

Definition at line 75 of file coal/narrowphase/gjk.h.

vertex

SimplexV* coal::details::GJK::Simplex::vertex[4]

simplex vertex

Definition at line 73 of file coal/narrowphase/gjk.h.

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The documentation for this struct was generated from the following file:

• coal/narrowphase/gjk.h