Struct GJK::Simplex

Nested Relationships

This struct is a nested type of Struct GJK.

Struct Documentation

struct Simplex

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.

Public Functions

inline Simplex()
inline void reset()

Public Members

SimplexV *vertex[4]

simplex vertex

vertex_id_t rank

size of simplex (number of vertices)