Module gjk

The Gilbert–Johnson–Keerthi distance algorithm.

Enums

• GJKResult
  Results of the GJK algorithm.

Functions

• cast_ray
  Casts a ray on a support map using the GJK algorithm.
• closest_points
  Projects the origin on a shape using the Separating Axis GJK algorithm. The algorithm will stop as soon as the polytope can be proven to be at least max_dist away from the origin.
• directional_distance
  Compute the normal and the distance that can travel g1 along the direction dir so that g1 and g2 just touch.
• eps_tol
  The absolute tolerence used by the GJK algorithm.
• project_origin
  Projects the origin on the boundary of the given shape.