distance3d.gjk.gjk_nesterov_accelerated_primitives_intersection

distance3d.gjk.gjk_nesterov_accelerated_primitives_intersection(collider0, collider1)[source]

Intersection test with Nesterov-accelerated GJK.

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:
contactbool

Shapes collide