8.1 The Method of Separating Axes 429
generated by a ver tex, an edge, or a face. Similar to the implementation for the 2D
problem, a projection information class can be defined.
class ProjInfo
{
public:
double min, max; // projection interval [min,max]
int index[2];
enum Type { V, E, F };
Type type[2];
};
The zero-indexed values correspond to the minimum of the interval, the one-indexed
values to the maximum. If the extreme point is exactly a vertex, the type is set to
V.If
the extreme points are exactly an edge, the t ype is set to
E. If the extreme points are
exactly a face, the type is set to
F.
Just as for convex polygons, the extremal query must be modified to support
calculation of the contact set via
ProjInfo. In particular, we need to know the enu-
merated ...