[GJK] Implement tetrahedra case.

74340987 · Joseph Mirabel · abb966cb · 74340987 · 74340987
Commit 74340987 authored Aug 31, 2019 by Joseph Mirabel
--- a/include/hpp/fcl/narrowphase/gjk.h
+++ b/include/hpp/fcl/narrowphase/gjk.h
@@ -189,6 +189,8 @@ private:
  /// @brief Project origin (0) onto triangle a-b-c
  FCL_REAL projectTriangleOrigin(const Simplex& current, Simplex& next);

+  /// @brief Project origin (0) onto tetrahedran a-b-c-d
+  FCL_REAL projectTetrahedraOrigin(const Simplex& current, Simplex& next);
 };



--- a/src/narrowphase/gjk.cpp
+++ b/src/narrowphase/gjk.cpp