#include <gjk.h>
Public Types | |
| Valid | |
| Touching | |
| Degenerated | |
| NonConvex | |
| InvalidHull | |
| OutOfFaces | |
| OutOfVertices | |
| AccuracyReached | |
| FallBack | |
| Failed | |
| 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 |
| SimplexV * | sv_store |
| SimplexF * | fc_store |
| size_t | nextsv |
| SimplexList | hull |
| SimplexList | stock |
Classes | |
| struct | SimplexF |
| struct | SimplexHorizon |
| struct | SimplexList |
Definition at line 187 of file gjk.h.
