Template Function coal::details::getSupport

• Defined in File support_functions.h

Function Documentation

template<int _SupportOptions = SupportOptions::NoSweptSphere>
Vec3s coal::details::getSupport(const ShapeBase *shape, const Vec3s &dir, int &hint)

the support function for shape. The output support point is expressed in the local frame of the shape.

Parameters:

• shape – the shape.

• dir – support direction.

• hint – used to initialize the search when shape is a ConvexBase object.

Template Parameters:

SupportOptions – is a value of the SupportOptions enum. If set to WithSweptSphere, the support functions take into account the shapes’ swept sphere radii. Please see MinkowskiDiff::set(const ShapeBase*, const ShapeBase*) for more details.

Returns:

a point which belongs to the set {argmax_{v in shape} v.dot(dir)}.