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Reworking gjk_libccd doSimplex2() #367

Merged
merged 1 commit into from
Feb 8, 2019
Merged

Reworking gjk_libccd doSimplex2() #367

merged 1 commit into from
Feb 8, 2019

Commits on Feb 7, 2019

  1. Reworking gjk_libccd doSimplex2() 

    1. Add a ton of documentation about this portion of the whole algorithm.
2. Rephrase the test with a greater understanding and simpler results.
3. Add unit tests
  - the old code failed in the following ways:
    - Didn't recognize when A *was* the origin.
    - Much larger tolerance for determining if A was co-linear with B.
4. Incidentally add some todos to doSimplex3() while examining
   relationships.
    @SeanCurtis-TRI
    SeanCurtis-TRI committed Feb 7, 2019
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