Fast and reliable implementation of the Gilbert-Johnson-Keerthi (GJK) algorithm for C, C#, Go, Matlab and Python
GNU General Public License v3.0
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User suggestion to speedup S2D #29
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MattiaMontanari closed 1 year ago
From private conversation: ... And I think the S2D() function might be made faster by moving some of the hff1 & hff2 computations into the if-else clause. An example would be https://github.com/humanoid-path-planner/hpp-fcl/blob/49c54365aa84348e4e3f2cf699574c35295e30c0/src/narrowphase/gjk.cpp#L1001. The speed-up comes from doing less cross-products.