Gjk Class

Gjk Class

The Gilbert-Johnson-Keerthi (GJK) algorithm for computing closest points of convex objects.

Inheritance Hierarchy

SystemObject
DigitalRune.Geometry.Collisions.AlgorithmsCollisionAlgorithm
DigitalRune.Geometry.Collisions.AlgorithmsGjk

Namespace: DigitalRune.Geometry.Collisions.Algorithms
Assembly: DigitalRune.Geometry (in DigitalRune.Geometry.dll) Version: 1.18.0.0 (1.18.2.14427)

Syntax

C++

Copy

public class Gjk : CollisionAlgorithm

Public Class Gjk
	Inherits CollisionAlgorithm

public ref class Gjk : public CollisionAlgorithm

type Gjk =  
    class
        inherit CollisionAlgorithm
    end

The Gjk type exposes the following members.

Constructors

	Name	Description
	Gjk	Initializes a new instance of the Gjk class.

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Methods

	Name	Description
	ComputeCollision	Computes the collision. - This method should only be used by CollisionAlgorithm instances! (Overrides CollisionAlgorithmComputeCollision(ContactSet, CollisionQueryType).)
	Equals	Determines whether the specified Object is equal to the current Object. (Inherited from Object.)
	Finalize	Allows an object to try to free resources and perform other cleanup operations before it is reclaimed by garbage collection. (Inherited from Object.)
	GetClosestPoints	Gets the closest points of two collision objects. (Inherited from CollisionAlgorithm.)
	GetContacts	Gets the contact information of two possibly touching collision objects. (Inherited from CollisionAlgorithm.)
	GetHashCode	Serves as a hash function for a particular type. (Inherited from Object.)
	GetTimeOfImpact	Gets the time of impact between two moving objects. (Inherited from CollisionAlgorithm.)
	GetType	Gets the Type of the current instance. (Inherited from Object.)
	HaveContact	Determines whether two collision objects are in contact. (Inherited from CollisionAlgorithm.)
	MemberwiseClone	Creates a shallow copy of the current Object. (Inherited from Object.)
	ToString	Returns a string that represents the current object. (Inherited from Object.)
	UpdateClosestPoints	Performs a collision query to update the closest-point information in the contact set. (Inherited from CollisionAlgorithm.)
	UpdateContacts	Performs a collision query to update the contact information in the contact set. (Inherited from CollisionAlgorithm.)

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Properties

	Name	Description
	CollisionDetection	Gets the collision detection service. (Inherited from CollisionAlgorithm.)

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Remarks

The GJK algorithm cannot compute contacts of penetrating objects. Both shapes must implement a support mapping. That means this algorithm can only be called for shapes derived from ConvexShapes. It will throw an exception if it is called for other objects, for example a PlaneShape.

Reference

DigitalRune.Geometry.Collisions.Algorithms Namespace