coal::details::details Namespace Reference

Functions
void	getClosestPoints (const GJK::Simplex &simplex, Vec3s &w0, Vec3s &w1)
template<bool Separated>
void	inflate (const MinkowskiDiff &shape, const Vec3s &normal, Vec3s &w0, Vec3s &w1)

Function Documentation

getClosestPoints()

void coal::details::details::getClosestPoints	(	const GJK::Simplex &	simplex,
		Vec3s &	w0,
		Vec3s &	w1
	)

Definition at line 93 of file src/narrowphase/gjk.cpp.

inflate()

template<bool Separated>

void coal::details::details::inflate	(	const MinkowskiDiff &	shape,
		const Vec3s &	normal,
		Vec3s &	w0,
		Vec3s &	w1
	)

Inflate the points along a normal. The normal is typically the normal of the separating plane found by GJK or the normal found by EPA. The normal should follow coal convention: it points from shape0 to shape1.

Definition at line 158 of file src/narrowphase/gjk.cpp.