added functionality to calculate witness points

MattiaMontanari / openGJK

Fast and reliable implementation of the Gilbert-Johnson-Keerthi (GJK) algorithm for C, C#, Go, Matlab and Python

https://www.mattiamontanari.com/opengjk/

GNU General Public License v3.0

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added functionality to calculate witness points #4

Closed JohnnyMudcrab closed 4 years ago

JohnnyMudcrab commented 4 years ago

hi,

i added the functionality to calculate the witness points to your contribution. I tried to be as minimally invasive as possible. Therefore i added the points that form the simplex to the simplex struct. The user can then decide if he or she wants to calculate the witness points outside of gjk algortihm. I don't think that changes are much of a overhead. If you like, you can pull the changes into you library.

kind regards Johnny

MattiaMontanari commented 4 years ago

Thank you Johnny, that's really appreciated. I'm not sure if this will work in a future release but I'll take it on board for now :)