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fcl::GJKSolver_indep

fcl::GJKSolver_indep Struct Reference

collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the GJK in bullet) More...

#include <narrowphase.h>

List of all members.


Public Member Functions

template<typename S1, typename S2>
bool shapeIntersect (const S1 &s1, const Transform3f &tf1, const S2 &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
 intersection checking between two shapes
template<typename S>
bool shapeTriangleIntersect (const S &s, const Transform3f &tf, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
 intersection checking between one shape and a triangle
template<typename S>
bool shapeTriangleIntersect (const S &s, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
template<typename S1, typename S2>
bool shapeDistance (const S1 &s1, const Transform3f &tf1, const S2 &s2, const Transform3f &tf2, FCL_REAL *distance) const
 distance computation between two shapes
template<typename S>
bool shapeTriangleDistance (const S &s, const Transform3f &tf, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, FCL_REAL *distance) const
 distance computation between one shape and a triangle
template<typename S>
bool shapeTriangleDistance (const S &s, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf2, FCL_REAL *distance) const
 distance computation between one shape and a triangle with transformation
 GJKSolver_indep ()
 default setting for GJK algorithm
template<>
bool shapeIntersect (const Sphere &s1, const Transform3f &tf1, const Sphere &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
 Fast implementation for sphere-sphere collision.
template<>
bool shapeTriangleIntersect (const Sphere &s, const Transform3f &tf, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
 Fast implementation for sphere-triangle collision.
template<>
bool shapeTriangleIntersect (const Sphere &s, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
 Fast implementation for sphere-triangle collision.
template<>
bool shapeDistance (const Sphere &s1, const Transform3f &tf1, const Sphere &s2, const Transform3f &tf2, FCL_REAL *dist) const
 Fast implementation for sphere-sphere distance.
template<>
bool shapeTriangleDistance (const Sphere &s, const Transform3f &tf, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, FCL_REAL *dist) const
 Fast implementation for sphere-triangle distance.
template<>
bool shapeTriangleDistance (const Sphere &s, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf2, FCL_REAL *dist) const
 Fast implementation for sphere-triangle distance.
template<>
bool shapeIntersect (const Box &s1, const Transform3f &tf1, const Box &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
 Fast implementation for box-box collision.
template<>
bool shapeIntersect (const Sphere &s1, const Transform3f &tf1, const Sphere &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
template<>
bool shapeDistance (const Sphere &s1, const Transform3f &tf1, const Sphere &s2, const Transform3f &tf2, FCL_REAL *dist) const
template<>
bool shapeTriangleDistance (const Sphere &s, const Transform3f &tf, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, FCL_REAL *dist) const
template<>
bool shapeTriangleDistance (const Sphere &s, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf2, FCL_REAL *dist) const
template<>
bool shapeIntersect (const Box &s1, const Transform3f &tf1, const Box &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const

Public Attributes

unsigned int epa_max_face_num
 maximum number of simplex face used in EPA algorithm
unsigned int epa_max_vertex_num
 maximum number of simplex vertex used in EPA algorithm
unsigned int epa_max_iterations
 maximum number of iterations used for EPA iterations
FCL_REAL epa_tolerance
 the threshold used in EPA to stop iteration
FCL_REAL gjk_tolerance
 the threshold used in GJK to stop iteration
FCL_REAL gjk_max_iterations
 maximum number of iterations used for GJK iterations

Detailed Description

collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the GJK in bullet)

Definition at line 240 of file narrowphase.h.

The documentation for this struct was generated from the following files: