Dubious::Physics::Minkowski_vector Class Reference

A Minkowski Vector used in GJK and EPA. More...

#include <Minkowski_vector.h>

Public Member Functions
	Minkowski_vector ()=default
	Default constructor. More...
	Minkowski_vector (const Math::Vector &v, const Math::Vector &support_a, const Math::Vector &support_b)
	Useful constructor. More...
const Math::Vector &	v () const
	Accessor. More...
const Math::Vector &	support_a () const
	Accessor for support A. More...
const Math::Vector &	support_b () const
	Accessor for support B. More...

Detailed Description

A Minkowski Vector used in GJK and EPA.

In the EPA algorithm we need to keep track of the Minkowski Vector, the point on the Minkowski Simplex and Polytope, as well as the support points in global space that corresponds to this point. The bulk of GJK and EPA will only use the v() accessor, but once the contact point is found (on the Minkowski Polytope), the support points will be needed to find that point in global space

Constructor & Destructor Documentation

Dubious::Physics::Minkowski_vector::Minkowski_vector ( )

default

Default constructor.

Dubious::Physics::Minkowski_vector::Minkowski_vector ( const Math::Vector &  v, const Math::Vector &  support_a, const Math::Vector &  support_b  )

inline

Useful constructor.

Keeps track of the point on the Minkowski Simplex/Polytope as well as the support points on A and B that created it

Parameters

v	- [in] point on the Simplex/Polytope
support_a	- [in] support from object A
support_b	- [in] support from object B

Member Function Documentation

const Math::Vector& Dubious::Physics::Minkowski_vector::support_a ( ) const

inline

Accessor for support A.

const Math::Vector& Dubious::Physics::Minkowski_vector::support_b ( ) const

inline

Accessor for support B.

const Math::Vector& Dubious::Physics::Minkowski_vector::v ( ) const

inline

Accessor.

This is the most useful accessor as most of the collision point finding deals with this point

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

• Physics/src/Minkowski_vector.h