coal::details::GJK::Simplex Struct Reference

A simplex is a set of up to 4 vertices. Its rank is the number of vertices it contains. More...

#include <coal/narrowphase/gjk.h>

Collaboration diagram for coal::details::GJK::Simplex:

Public Member Functions
	Simplex ()
void	reset ()

Public Attributes
SimplexV *	vertex [4]
	simplex vertex More...
vertex_id_t	rank
	size of simplex (number of vertices) More...

Detailed Description

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.

Constructor & Destructor Documentation

Simplex()

coal::details::GJK::Simplex::Simplex ( )

inline

Member Function Documentation

reset()

void coal::details::GJK::Simplex::reset ( )

inline

Member Data Documentation

rank

vertex_id_t coal::details::GJK::Simplex::rank

size of simplex (number of vertices)

vertex

SimplexV* coal::details::GJK::Simplex::vertex[4]

simplex vertex

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The documentation for this struct was generated from the following file:

• include/coal/narrowphase/gjk.h