coal/data_types.h File Reference

#include <Eigen/Core>
#include <Eigen/Geometry>
#include "coal/config.hh"

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Classes
struct	coal::Quadrilateral
	Quadrilateral with 4 indices for points. More...
class	coal::Triangle
	Triangle with 3 indices for points. More...

Namespaces
	coal
	Main namespace.

Typedefs
typedef double	coal::CoalScalar
typedef Eigen::Matrix< CoalScalar, 3, 3 >	coal::Matrix3s
typedef Eigen::Matrix< CoalScalar, Eigen::Dynamic, 2, Eigen::RowMajor >	coal::MatrixX2s
typedef Eigen::Matrix< Eigen::DenseIndex, Eigen::Dynamic, 3, Eigen::RowMajor >	coal::Matrixx3i
typedef Eigen::Matrix< CoalScalar, Eigen::Dynamic, 3, Eigen::RowMajor >	coal::MatrixX3s
typedef Eigen::Matrix< CoalScalar, Eigen::Dynamic, Eigen::Dynamic >	coal::MatrixXs
typedef Eigen::Vector2i	coal::support_func_guess_t
typedef Eigen::Matrix< CoalScalar, 2, 1 >	coal::Vec2s
typedef Eigen::Matrix< CoalScalar, 3, 1 >	coal::Vec3s
typedef Eigen::Matrix< CoalScalar, 6, 1 >	coal::Vec6s
typedef Eigen::Matrix< CoalScalar, Eigen::Dynamic, 1 >	coal::VecXs

Enumerations
enum	coal::GJKConvergenceCriterion { coal::Default, coal::DualityGap, coal::Hybrid }
	Which convergence criterion is used to stop the algorithm (when the shapes are not in collision). (default) VDB: Van den Bergen (A Fast and Robust GJK Implementation, 1999) DG: duality-gap, as used in the Frank-Wolfe and the vanilla 1988 GJK algorithms Hybrid: a mix between VDB and DG. More...
enum	coal::GJKConvergenceCriterionType { coal::Relative, coal::Absolute }
	Wether the convergence criterion is scaled on the norm of the solution or not. More...
enum	coal::GJKInitialGuess { coal::DefaultGuess, coal::CachedGuess, coal::BoundingVolumeGuess }
	Initial guess to use for the GJK algorithm DefaultGuess: Vec3s(1, 0, 0) CachedGuess: previous vector found by GJK or guess cached by the user BoundingVolumeGuess: guess using the centers of the shapes' AABB WARNING: to use BoundingVolumeGuess, computeLocalAABB must have been called on the two shapes. More...
enum	coal::GJKVariant { coal::DefaultGJK, coal::PolyakAcceleration, coal::NesterovAcceleration }
	Variant to use for the GJK algorithm. More...