distance3d.gjk.gjk_intersection_libccd¶
- distance3d.gjk.gjk_intersection_libccd(collider1, collider2, max_iterations=100)[source]¶
Intersection test with Gilbert-Johnson-Keerthi (GJK) algorithm.
This version of GJK does not interpolate between vertices of a mesh. Hence, it might sometimes loop through the same vertices of a mesh until the maximum number of iterations is reached. This does not occur with parametrically represented primitive shapes.
An advantage of the implementation is that it implements the intersection test much faster than the original implementation. It is also the shortest implementation of all.
This implementation of GJK is based on libccd (for details, see https://github.com/danfis/libccd). For the original code the copyright is of Daniel Fiser <danfis@danfis.cz>. It has been released under 3-clause BSD license.
Based on: A Fast and Robust GJK Implementation for Collision Detection of Convex Objects - Gino van den Bergen, http://www.dtecta.com/papers/jgt98convex.pdf
- Parameters:
- collider1ConvexCollider
Convex collider 1.
- collider2ConvexCollider
Convex collider 2.
- max_iterationsint, optional (default: 100)
Maximum number of iterations.
- Returns:
- intersectionbool
Do the two colliders intersect?