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fcl::details::EPA Struct Reference

class for EPA algorithm More...

#include <gjk.h>

List of all members.

Public Types

enum  Status {
  Valid, Touching, Degenerated, NonConvex,
  InvalidHull, OutOfFaces, OutOfVertices, AccuracyReached,
  FallBack, Failed

Public Member Functions

 EPA (unsigned int max_face_num_, unsigned int max_vertex_num_, unsigned int max_iterations_, FCL_REAL tolerance_)
 ~EPA ()
void initialize ()
bool getEdgeDist (SimplexF *face, SimplexV *a, SimplexV *b, FCL_REAL &dist)
SimplexF * newFace (SimplexV *a, SimplexV *b, SimplexV *c, bool forced)
SimplexF * findBest ()
 Find the best polytope face to split.
Status evaluate (GJK &gjk, const Vec3f &guess)
bool expand (size_t pass, SimplexV *w, SimplexF *f, size_t e, SimplexHorizon &horizon)
 the goal is to add a face connecting vertex w and face edge f[e]

Public Attributes

Status status
GJK::Simplex result
Vec3f normal
FCL_REAL depth
SimplexF * fc_store
size_t nextsv
SimplexList hull
SimplexList stock


struct  SimplexF
struct  SimplexHorizon
struct  SimplexList

Detailed Description

class for EPA algorithm

Definition at line 187 of file gjk.h.

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