Module algorithms

Algorithms needed for distance and penetration depth computation.

Re-exports

pub use self::epa3::EPA;

Modules

epa3

Three-dimensional penetration depth queries using the Expanding Polytope Algorithm.

gjk

The Gilbert–Johnson–Keerthi distance algorithm.

special_support_maps

Special support map function like constants and Minkowski sums.

Structs

CSOPoint

A point of a Configuration-Space Obstacle.

VoronoiSimplex

A simplex of dimension up to 3 that uses Voronoï regions for computing point projections.