Use dedicated algorithms for point-containement and ray-cast against simple primitives.
Open
enhancement
- Dominant language
- Rust
- Stars
- 926
- Forks
- 104
- PR merge metrics
- No merged PRs in 30d
Description
Currently, a complex GJK-based ray-cast algorithm is used for some simple primitives like, say, the capsule. This is very inefficient as a dedicated solution would only require the resolution of a low-degree (2, 3 or 4) polynomial in most cases.
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