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fcl::details::GJK Struct Reference

class for GJK algorithm More...

#include <gjk.h>

List of all members.

Public Types

enum  Status { Valid, Inside, Failed }

Public Member Functions

 GJK (unsigned int max_iterations_, FCL_REAL tolerance_)
void initialize ()
Status evaluate (const MinkowskiDiff &shape_, const Vec3f &guess)
 GJK algorithm, given the initial value guess.
void getSupport (const Vec3f &d, SimplexV &sv) const
 apply the support function along a direction, the result is return in sv
void removeVertex (Simplex &simplex)
 discard one vertex from the simplex
void appendVertex (Simplex &simplex, const Vec3f &v)
 append one vertex to the simplex
bool encloseOrigin ()
 whether the simplex enclose the origin
SimplexgetSimplex () const
 get the underlying simplex using in GJK

Public Attributes

MinkowskiDiff shape
Vec3f ray
FCL_REAL distance
Simplex simplices [2]


struct  Simplex
struct  SimplexV

Detailed Description

class for GJK algorithm

Definition at line 110 of file gjk.h.

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