distance3d.gjk.gjk_nesterov_accelerated_primitives_distance¶
- distance3d.gjk.gjk_nesterov_accelerated_primitives_distance(collider0, collider1)[source]¶
Nesterov-accelerated GJK algorithm for distance calculation.
This implementation is based on the Paper “Collision Detection Accelerated: An Optimization Perspective” https://lmontaut.github.io/nesterov-gjk.github.io/ and highly inspired by the C++ implementation in of the Authors: https://github.com/humanoid-path-planner/hpp-fcl/blob/devel/src/narrowphase/gjk.cpp
This implemetation can only be used with the following Collider Types: “Sphere”, “Capsule”, “Box”, “Ellipsoid” and “Cylinder”.
- Parameters:
- collider0ConvexCollider
Convex collider 1.
- collider1ConvexCollider
Convex collider 2.
- Returns:
- distancefloat
The distance between the colliders. The distance is zero if they collide.