Fig. 4
From: Collision-aware interactive simulation using graph neural networks
Edge-edge test: To perform an edge-edge test between the two edges E1 and E2 (defined by u0, v0, and k0, l0 at t = 0, and u1, v1, and k1, l1 at t = 1), the coplanarity conditions of these vertices by finding a t (t ∈ [0, 1]) when the projected distance between lt and the triangle defined by kt, ut and vt is equal to zero, that is, (lt − kt) · nt = 0 is checked