coal::details Namespace Reference

Namespaces
	details

Classes
struct	bvh_shape_traits
struct	EPA
	class for EPA algorithm More...
struct	GJK
	class for GJK algorithm More...
struct	LargeConvex
	Cast a ConvexBase to a LargeConvex to use the log version of getShapeSupport. This is much faster than the linear version of getShapeSupport when a ConvexBase has more than a few dozen of vertices. More...
struct	MinkowskiDiff
	Minkowski difference class of two shapes. More...
struct	ShapeSupportData
	Stores temporary data for the computation of support points. More...
struct	SmallConvex
	See LargeConvex. More...
struct	UpdateBoundingVolume
struct	UpdateBoundingVolume< AABB >

Enumerations
enum	SupportOptions { NoSweptSphere = 0, WithSweptSphere = 0x1 }
	Options for the computation of support points. NoSweptSphere option is used when the support function is called by GJK or EPA. In this case, the swept sphere radius is not taken into account in the support function. It is used by GJK and EPA after they have converged to correct the solution. WithSweptSphere option is used when the support function is called directly by the user. In this case, the swept sphere radius is taken into account in the support function. More...

Functions
CoalScalar	boxSphereDistance (const Box &b, const Transform3s &tfb, const Sphere &s, const Transform3s &tfs, Vec3s &pb, Vec3s &ps, Vec3s &normal)
	BVH_SHAPE_DEFAULT_TO_ORIENTED (kIOS)
	BVH_SHAPE_DEFAULT_TO_ORIENTED (OBB)
	BVH_SHAPE_DEFAULT_TO_ORIENTED (OBBRSS)
	BVH_SHAPE_DEFAULT_TO_ORIENTED (RSS)
template<typename BV >
BVHModel< BV > *	BVHExtract (const BVHModel< BV > &model, const Transform3s &pose, const AABB &_aabb)
	Extract the part of the BVHModel that is inside an AABB. A triangle in collision with the AABB is considered inside. More...
CoalScalar	computePenetration (const Vec3s &P1, const Vec3s &P2, const Vec3s &P3, const Vec3s &Q1, const Vec3s &Q2, const Vec3s &Q3, const Transform3s &tf1, const Transform3s &tf2, Vec3s &normal)
CoalScalar	computePenetration (const Vec3s &P1, const Vec3s &P2, const Vec3s &P3, const Vec3s &Q1, const Vec3s &Q2, const Vec3s &Q3, Vec3s &normal)
	See the prototype below. More...
COAL_DLLAPI void	computeSupportSetConvexHull (SupportSet::Polygon &cloud, SupportSet::Polygon &cvx_hull)
	Computes the convex-hull of support_set. For now, this function is only needed for Box and ConvexBase. More...
template<int _SupportOptions>
void	convexSupportSetRecurse (const std::vector< Vec3s > &points, const std::vector< ConvexBase::Neighbors > &neighbors, const CoalScalar swept_sphere_radius, const size_t vertex_idx, const Vec3s &support_dir, const CoalScalar support_value, const Transform3s &tf, std::vector< int8_t > &visited, SupportSet::Polygon &polygon, CoalScalar tol)
CollisionGeometry *	extractBVH (const CollisionGeometry *model, const Transform3s &pose, const AABB &aabb)
template<typename NT >
CollisionGeometry *	extractBVHtpl (const CollisionGeometry *model, const Transform3s &pose, const AABB &aabb)
std::vector< Vec3s >	getBoundVertices (const Box &box, const Transform3s &tf)
std::vector< Vec3s >	getBoundVertices (const Capsule &capsule, const Transform3s &tf)
std::vector< Vec3s >	getBoundVertices (const Cone &cone, const Transform3s &tf)
std::vector< Vec3s >	getBoundVertices (const ConvexBase &convex, const Transform3s &tf)
std::vector< Vec3s >	getBoundVertices (const Cylinder &cylinder, const Transform3s &tf)
std::vector< Vec3s >	getBoundVertices (const Ellipsoid &ellipsoid, const Transform3s &tf)
std::vector< Vec3s >	getBoundVertices (const Sphere &sphere, const Transform3s &tf)
std::vector< Vec3s >	getBoundVertices (const TriangleP &triangle, const Transform3s &tf)
bool	getNormalizeSupportDirection (const ShapeBase *shape)
void	getNormalizeSupportDirectionFromShapes (const ShapeBase *shape0, const ShapeBase *shape1, bool &normalize_support_direction)
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupport (const Box *box, const Vec3s &dir, Vec3s &support, int &, ShapeSupportData &)
	Box support function. More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupport (const Capsule *capsule, const Vec3s &dir, Vec3s &support, int &, ShapeSupportData &)
	Capsule support function. More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupport (const Cone *cone, const Vec3s &dir, Vec3s &support, int &, ShapeSupportData &)
	Cone support function. More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupport (const ConvexBase *convex, const Vec3s &dir, Vec3s &support, int &hint, ShapeSupportData &)
	ConvexBase support function. More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupport (const Cylinder *cylinder, const Vec3s &dir, Vec3s &support, int &, ShapeSupportData &)
	Cylinder support function. More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupport (const Ellipsoid *ellipsoid, const Vec3s &dir, Vec3s &support, int &, ShapeSupportData &)
	Ellipsoid support function. More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupport (const LargeConvex *convex, const Vec3s &dir, Vec3s &support, int &hint, ShapeSupportData &support_data)
	Support function for small ConvexBase (<32 vertices). More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupport (const SmallConvex *convex, const Vec3s &dir, Vec3s &support, int &hint, ShapeSupportData &data)
	Support function for large ConvexBase (>32 vertices). More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupport (const Sphere *sphere, const Vec3s &dir, Vec3s &support, int &, ShapeSupportData &)
	Sphere support function. More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupport (const TriangleP *triangle, const Vec3s &dir, Vec3s &support, int &, ShapeSupportData &)
	Triangle support function. More...
template<int _SupportOptions>
void	getShapeSupportLinear (const ConvexBase *convex, const Vec3s &dir, Vec3s &support, int &hint, ShapeSupportData &)
template<int _SupportOptions>
void	getShapeSupportLog (const ConvexBase *convex, const Vec3s &dir, Vec3s &support, int &hint, ShapeSupportData &support_data)
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupportSet (const Box *box, SupportSet &support_set, int &, ShapeSupportData &support_data, size_t num_sampled_supports=6, CoalScalar tol=1e-3)
	Box support set function. Assumes the support set frame has already been computed. More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupportSet (const Capsule *capsule, SupportSet &support_set, int &, ShapeSupportData &, size_t num_sampled_supports=6, CoalScalar tol=1e-3)
	Capsule support set function. Assumes the support set frame has already been computed. More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupportSet (const Cone *cone, SupportSet &support_set, int &, ShapeSupportData &, size_t num_sampled_supports=6, CoalScalar tol=1e-3)
	Cone support set function. Assumes the support set frame has already been computed. More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupportSet (const ConvexBase *convex, SupportSet &support_set, int &hint, ShapeSupportData &support_data, size_t num_sampled_supports=6, CoalScalar tol=1e-3)
	ConvexBase support set function. Assumes the support set frame has already been computed. More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupportSet (const Cylinder *cylinder, SupportSet &support_set, int &, ShapeSupportData &, size_t num_sampled_supports=6, CoalScalar tol=1e-3)
	Cylinder support set function. Assumes the support set frame has already been computed. More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupportSet (const Ellipsoid *ellipsoid, SupportSet &support_set, int &, ShapeSupportData &, size_t num_sampled_supports=6, CoalScalar tol=1e-3)
	Ellipsoid support set function. Assumes the support set frame has already been computed. More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupportSet (const LargeConvex *convex, SupportSet &support_set, int &hint, ShapeSupportData &support_data, size_t num_sampled_supports=6, CoalScalar tol=1e-3)
	Support set function for small ConvexBase (<32 vertices). Assumes the support set frame has already been computed. More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupportSet (const SmallConvex *convex, SupportSet &support_set, int &, ShapeSupportData &, size_t num_sampled_supports=6, CoalScalar tol=1e-3)
	Support set function for large ConvexBase (>32 vertices). Assumes the support set frame has already been computed. More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupportSet (const Sphere *sphere, SupportSet &support_set, int &, ShapeSupportData &, size_t num_sampled_supports=6, CoalScalar tol=1e-3)
	Sphere support set function. Assumes the support set frame has already been computed. More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupportSet (const TriangleP *triangle, SupportSet &support_set, int &, ShapeSupportData &, size_t num_sampled_supports=6, CoalScalar tol=1e-3)
	Triangle support set function. Assumes the support set frame has already been computed. More...
template<int _SupportOptions>
void	getShapeSupportSetLinear (const ConvexBase *convex, SupportSet &support_set, int &hint, ShapeSupportData &support_data, size_t, CoalScalar tol)
template<int _SupportOptions>
void	getShapeSupportSetLog (const ConvexBase *convex, SupportSet &support_set, int &hint, ShapeSupportData &support_data, size_t, CoalScalar tol)
template<typename ShapeType , int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupportSetTpl (const ShapeBase *shape, SupportSet &support_set, int &hint, ShapeSupportData &support_data, size_t num_sampled_supports=6, CoalScalar tol=1e-3)
	Templated shape support set functions. More...
	getShapeSupportSetTplInstantiation (Box)
	getShapeSupportSetTplInstantiation (Capsule)
	getShapeSupportSetTplInstantiation (Cone)
	getShapeSupportSetTplInstantiation (ConvexBase)
	getShapeSupportSetTplInstantiation (Cylinder)
	getShapeSupportSetTplInstantiation (Ellipsoid)
	getShapeSupportSetTplInstantiation (LargeConvex)
	getShapeSupportSetTplInstantiation (SmallConvex)
	getShapeSupportSetTplInstantiation (Sphere)
	getShapeSupportSetTplInstantiation (TriangleP)
	getShapeSupportTplInstantiation (Box)
	getShapeSupportTplInstantiation (Capsule)
	getShapeSupportTplInstantiation (Cone)
	getShapeSupportTplInstantiation (ConvexBase)
	getShapeSupportTplInstantiation (Cylinder)
	getShapeSupportTplInstantiation (Ellipsoid)
	getShapeSupportTplInstantiation (LargeConvex)
	getShapeSupportTplInstantiation (SmallConvex)
	getShapeSupportTplInstantiation (Sphere)
	getShapeSupportTplInstantiation (TriangleP)
template<int _SupportOptions = SupportOptions::NoSweptSphere>
Vec3s	getSupport (const ShapeBase *shape, const Vec3s &dir, int &hint)
	the support function for shape. The output support point is expressed in the local frame of the shape. More...
template COAL_DLLAPI Vec3s	getSupport< SupportOptions::NoSweptSphere > (const ShapeBase *, const Vec3s &, int &)
template COAL_DLLAPI Vec3s	getSupport< SupportOptions::WithSweptSphere > (const ShapeBase *, const Vec3s &, int &)
template<typename Shape0 , typename Shape1 , bool TransformIsIdentity, int _SupportOptions>
void	getSupportFuncTpl (const MinkowskiDiff &md, const Vec3s &dir, Vec3s &support0, Vec3s &support1, support_func_guess_t &hint, ShapeSupportData data[2])
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getSupportSet (const ShapeBase *shape, const Vec3s &dir, SupportSet &support_set, int &hint, size_t num_sampled_supports=6, CoalScalar tol=1e-3)
	Same as getSupportSet(const ShapeBase*, const CoalScalar, SupportSet&, const int) but also constructs the support set frame from dir. More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getSupportSet (const ShapeBase *shape, SupportSet &support_set, int &hint, size_t num_sampled_supports=6, CoalScalar tol=1e-3)
	Computes the support set for shape. This function assumes the frame of the support set has already been computed and that this frame is expressed w.r.t the local frame of the shape (i.e. the local frame of the shape is the WORLD frame of the support set). The support direction used to compute the support set is the positive z-axis if the support set has the DEFAULT direction; negative z-axis if it has the INVERTED direction. (In short, a shape's support set is has the DEFAULT direction if the shape is the first shape in a collision pair. It has the INVERTED direction if the shape is the second one in the collision pair). More...
template COAL_DLLAPI void	getSupportSet< SupportOptions::NoSweptSphere > (const ShapeBase *, SupportSet &, int &, size_t, CoalScalar)
template COAL_DLLAPI void	getSupportSet< SupportOptions::WithSweptSphere > (const ShapeBase *, SupportSet &, int &, size_t, CoalScalar)
template<typename Shape0 , typename Shape1 , bool TransformIsIdentity, int _SupportOptions>
void	getSupportTpl (const Shape0 *s0, const Shape1 *s1, const Matrix3s &oR1, const Vec3s &ot1, const Vec3s &dir, Vec3s &support0, Vec3s &support1, support_func_guess_t &hint, ShapeSupportData data[2])
CoalScalar	halfspaceDistance (const Halfspace &h, const Transform3s &tf1, const ShapeBase &s, const Transform3s &tf2, Vec3s &p1, Vec3s &p2, Vec3s &normal)
CoalScalar	halfspaceHalfspaceDistance (const Halfspace &s1, const Transform3s &tf1, const Halfspace &s2, const Transform3s &tf2, Vec3s &p1, Vec3s &p2, Vec3s &normal)
	return distance between two halfspaces More...
CoalScalar	halfspacePlaneDistance (const Halfspace &s1, const Transform3s &tf1, const Plane &s2, const Transform3s &tf2, Vec3s &p1, Vec3s &p2, Vec3s &normal)
	return distance between plane and halfspace. More...
static void	lineSegmentPointClosestToPoint (const Vec3s &p, const Vec3s &s1, const Vec3s &s2, Vec3s &sp)
template<int _SupportOptions>
MinkowskiDiff::GetSupportFunction	makeGetSupportFunction0 (const ShapeBase *s0, const ShapeBase *s1, bool identity, Eigen::Array< CoalScalar, 1, 2 > &swept_sphere_radius, ShapeSupportData data[2])
template<typename Shape0 , int _SupportOptions>
MinkowskiDiff::GetSupportFunction	makeGetSupportFunction1 (const ShapeBase *s1, bool identity, Eigen::Array< CoalScalar, 1, 2 > &swept_sphere_radius, ShapeSupportData data[2])
template void COAL_DLLAPI	MinkowskiDiff::set< SupportOptions::NoSweptSphere > (const ShapeBase *, const ShapeBase *)
template void COAL_DLLAPI	MinkowskiDiff::set< SupportOptions::NoSweptSphere > (const ShapeBase *, const ShapeBase *, const Transform3s &, const Transform3s &)
template void COAL_DLLAPI	MinkowskiDiff::set< SupportOptions::WithSweptSphere > (const ShapeBase *, const ShapeBase *)
template void COAL_DLLAPI	MinkowskiDiff::set< SupportOptions::WithSweptSphere > (const ShapeBase *, const ShapeBase *, const Transform3s &, const Transform3s &)
template Vec3s COAL_DLLAPI	MinkowskiDiff::support0< SupportOptions::NoSweptSphere > (const Vec3s &, int &) const
template Vec3s COAL_DLLAPI	MinkowskiDiff::support0< SupportOptions::WithSweptSphere > (const Vec3s &, int &) const
template Vec3s COAL_DLLAPI	MinkowskiDiff::support1< SupportOptions::NoSweptSphere > (const Vec3s &, int &) const
template Vec3s COAL_DLLAPI	MinkowskiDiff::support1< SupportOptions::WithSweptSphere > (const Vec3s &, int &) const
template<typename OrientedMeshShapeDistanceTraversalNode , typename T_BVH , typename T_SH >
CoalScalar	orientedBVHShapeDistance (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *nsolver, const DistanceRequest &request, DistanceResult &result)
template<typename OrientedMeshCollisionTraversalNode , typename T_BVH >
std::size_t	orientedMeshCollide (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const CollisionRequest &request, CollisionResult &result)
template<typename OrientedMeshDistanceTraversalNode , typename T_BVH >
CoalScalar	orientedMeshDistance (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const DistanceRequest &request, DistanceResult &result)
void	originToPoint (const GJK::Simplex &current, GJK::vertex_id_t a, const Vec3s &A, GJK::Simplex &next, Vec3s &ray)
void	originToSegment (const GJK::Simplex &current, GJK::vertex_id_t a, GJK::vertex_id_t b, const Vec3s &A, const Vec3s &B, const Vec3s &AB, const CoalScalar &ABdotAO, GJK::Simplex &next, Vec3s &ray)
bool	originToTriangle (const GJK::Simplex &current, GJK::vertex_id_t a, GJK::vertex_id_t b, GJK::vertex_id_t c, const Vec3s &ABC, const CoalScalar &ABCdotAO, GJK::Simplex &next, Vec3s &ray)
CoalScalar	planeDistance (const Plane &plane, const Transform3s &tf1, const ShapeBase &s, const Transform3s &tf2, Vec3s &p1, Vec3s &p2, Vec3s &normal)
CoalScalar	planePlaneDistance (const Plane &s1, const Transform3s &tf1, const Plane &s2, const Transform3s &tf2, Vec3s &p1, Vec3s &p2, Vec3s &normal)
	return distance between two planes More...
bool	projectInTriangle (const Vec3s &p1, const Vec3s &p2, const Vec3s &p3, const Vec3s &normal, const Vec3s &p)
	Whether a point's projection is in a triangle. More...
CoalScalar	segmentSqrDistance (const Vec3s &from, const Vec3s &to, const Vec3s &p, Vec3s &nearest)
	the minimum distance from a point to a line More...
CoalScalar	sphereCapsuleDistance (const Sphere &s1, const Transform3s &tf1, const Capsule &s2, const Transform3s &tf2, Vec3s &p1, Vec3s &p2, Vec3s &normal)
CoalScalar	sphereCylinderDistance (const Sphere &s1, const Transform3s &tf1, const Cylinder &s2, const Transform3s &tf2, Vec3s &p1, Vec3s &p2, Vec3s &normal)
CoalScalar	sphereSphereDistance (const Sphere &s1, const Transform3s &tf1, const Sphere &s2, const Transform3s &tf2, Vec3s &p1, Vec3s &p2, Vec3s &normal)
CoalScalar	sphereTriangleDistance (const Sphere &s, const Transform3s &tf1, const TriangleP &tri, const Transform3s &tf2, Vec3s &p1, Vec3s &p2, Vec3s &normal)

Enumeration Type Documentation

SupportOptions

enum coal::details::SupportOptions

Options for the computation of support points. NoSweptSphere option is used when the support function is called by GJK or EPA. In this case, the swept sphere radius is not taken into account in the support function. It is used by GJK and EPA after they have converged to correct the solution. WithSweptSphere option is used when the support function is called directly by the user. In this case, the swept sphere radius is taken into account in the support function.

Enumerator
NoSweptSphere
WithSweptSphere

Definition at line 58 of file coal/narrowphase/support_functions.h.

Function Documentation

boxSphereDistance()

CoalScalar coal::details::boxSphereDistance ( const Box &  b, const Transform3s &  tfb, const Sphere &  s, const Transform3s &  tfs, Vec3s &  pb, Vec3s &  ps, Vec3s &  normal  )

inline

Taken from book Real Time Collision Detection, from Christer Ericson

Parameters

pb	the witness point on the box surface
ps	the witness point on the sphere.
normal	pointing from box to sphere

Returns

the distance between the two shapes (negative if penetration).

Definition at line 438 of file details.h.

BVH_SHAPE_DEFAULT_TO_ORIENTED() [1/4]

coal::details::BVH_SHAPE_DEFAULT_TO_ORIENTED

(

kIOS

)

BVH_SHAPE_DEFAULT_TO_ORIENTED() [2/4]

coal::details::BVH_SHAPE_DEFAULT_TO_ORIENTED

(

OBB

)

BVH_SHAPE_DEFAULT_TO_ORIENTED() [3/4]

coal::details::BVH_SHAPE_DEFAULT_TO_ORIENTED

(

OBBRSS

)

BVH_SHAPE_DEFAULT_TO_ORIENTED() [4/4]

coal::details::BVH_SHAPE_DEFAULT_TO_ORIENTED

(

RSS

)

BVHExtract()

template<typename BV >

BVHModel<BV>* coal::details::BVHExtract	(	const BVHModel< BV > &	model,
		const Transform3s &	pose,
		const AABB &	_aabb
	)

Extract the part of the BVHModel that is inside an AABB. A triangle in collision with the AABB is considered inside.

Definition at line 47 of file BVH_utility.cpp.

computePenetration() [1/2]

CoalScalar coal::details::computePenetration ( const Vec3s &  P1, const Vec3s &  P2, const Vec3s &  P3, const Vec3s &  Q1, const Vec3s &  Q2, const Vec3s &  Q3, const Transform3s &  tf1, const Transform3s &  tf2, Vec3s &  normal  )

inline

Definition at line 722 of file details.h.

computePenetration() [2/2]

CoalScalar coal::details::computePenetration ( const Vec3s &  P1, const Vec3s &  P2, const Vec3s &  P3, const Vec3s &  Q1, const Vec3s &  Q2, const Vec3s &  Q3, Vec3s &  normal  )

inline

See the prototype below.

Definition at line 703 of file details.h.

computeSupportSetConvexHull()

COAL_DLLAPI void coal::details::computeSupportSetConvexHull	(	SupportSet::Polygon &	cloud,
		SupportSet::Polygon &	cvx_hull
	)

Computes the convex-hull of support_set. For now, this function is only needed for Box and ConvexBase.

Parameters

[in]	cloud	data which contains the 2d points of the support set which convex-hull we want to compute.
[out]	2d	points of the the support set's convex-hull.

Definition at line 952 of file support_functions.cpp.

convexSupportSetRecurse()

template<int _SupportOptions>

void coal::details::convexSupportSetRecurse	(	const std::vector< Vec3s > &	points,
		const std::vector< ConvexBase::Neighbors > &	neighbors,
		const CoalScalar	swept_sphere_radius,
		const size_t	vertex_idx,
		const Vec3s &	support_dir,
		const CoalScalar	support_value,
		const Transform3s &	tf,
		std::vector< int8_t > &	visited,
		SupportSet::Polygon &	polygon,
		CoalScalar	tol
	)

Definition at line 838 of file support_functions.cpp.

extractBVH()

CollisionGeometry* coal::details::extractBVH	(	const CollisionGeometry *	model,
		const Transform3s &	pose,
		const AABB &	aabb
	)

Definition at line 41 of file collision_utility.cpp.

extractBVHtpl()

template<typename NT >

CollisionGeometry* coal::details::extractBVHtpl ( const CollisionGeometry *  model, const Transform3s &  pose, const AABB &  aabb  )

inline

Definition at line 24 of file collision_utility.cpp.

getBoundVertices() [1/8]

std::vector<Vec3s> coal::details::getBoundVertices	(	const Box &	box,
		const Transform3s &	tf
	)

Definition at line 46 of file geometric_shapes_utility.cpp.

getBoundVertices() [2/8]

std::vector<Vec3s> coal::details::getBoundVertices	(	const Capsule &	capsule,
		const Transform3s &	tf
	)

Definition at line 123 of file geometric_shapes_utility.cpp.

getBoundVertices() [3/8]

std::vector<Vec3s> coal::details::getBoundVertices	(	const Cone &	cone,
		const Transform3s &	tf
	)

Definition at line 179 of file geometric_shapes_utility.cpp.

getBoundVertices() [4/8]

std::vector<Vec3s> coal::details::getBoundVertices	(	const ConvexBase &	convex,
		const Transform3s &	tf
	)

Definition at line 225 of file geometric_shapes_utility.cpp.

getBoundVertices() [5/8]

std::vector<Vec3s> coal::details::getBoundVertices	(	const Cylinder &	cylinder,
		const Transform3s &	tf
	)

Definition at line 199 of file geometric_shapes_utility.cpp.

getBoundVertices() [6/8]

std::vector<Vec3s> coal::details::getBoundVertices	(	const Ellipsoid &	ellipsoid,
		const Transform3s &	tf
	)

Definition at line 89 of file geometric_shapes_utility.cpp.

getBoundVertices() [7/8]

std::vector<Vec3s> coal::details::getBoundVertices	(	const Sphere &	sphere,
		const Transform3s &	tf
	)

Definition at line 64 of file geometric_shapes_utility.cpp.

getBoundVertices() [8/8]

std::vector<Vec3s> coal::details::getBoundVertices	(	const TriangleP &	triangle,
		const Transform3s &	tf
	)

Definition at line 236 of file geometric_shapes_utility.cpp.

getNormalizeSupportDirection()

bool coal::details::getNormalizeSupportDirection

(

const ShapeBase *

shape

)

Definition at line 228 of file minkowski_difference.cpp.

getNormalizeSupportDirectionFromShapes()

void coal::details::getNormalizeSupportDirectionFromShapes	(	const ShapeBase *	shape0,
		const ShapeBase *	shape1,
		bool &	normalize_support_direction
	)

Definition at line 260 of file minkowski_difference.cpp.

getShapeSupport() [1/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupport ( const Box *  box, const Vec3s &  dir, Vec3s &  support, int &  , ShapeSupportData &    )

inline

Box support function.

Definition at line 137 of file support_functions.cpp.

getShapeSupport() [2/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupport ( const Capsule *  capsule, const Vec3s &  dir, Vec3s &  support, int &  , ShapeSupportData &    )

inline

Capsule support function.

Definition at line 195 of file support_functions.cpp.

getShapeSupport() [3/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupport	(	const Cone *	cone,
		const Vec3s &	dir,
		Vec3s &	support,
		int &	,
		ShapeSupportData &
	)

Cone support function.

Definition at line 216 of file support_functions.cpp.

getShapeSupport() [4/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupport	(	const ConvexBase *	convex,
		const Vec3s &	dir,
		Vec3s &	support,
		int &	hint,
		ShapeSupportData &	support_data
	)

ConvexBase support function.

Note

See LargeConvex and SmallConvex to see how to optimize ConvexBase's support computation.

Definition at line 407 of file support_functions.cpp.

getShapeSupport() [5/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupport	(	const Cylinder *	cylinder,
		const Vec3s &	dir,
		Vec3s &	support,
		int &	,
		ShapeSupportData &
	)

Cylinder support function.

Definition at line 266 of file support_functions.cpp.

getShapeSupport() [6/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupport ( const Ellipsoid *  ellipsoid, const Vec3s &  dir, Vec3s &  support, int &  , ShapeSupportData &    )

inline

Ellipsoid support function.

Definition at line 174 of file support_functions.cpp.

getShapeSupport() [7/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupport ( const LargeConvex *  convex, const Vec3s &  dir, Vec3s &  support, int &  hint, ShapeSupportData &  support_data  )

inline

Support function for small ConvexBase (<32 vertices).

Definition at line 435 of file support_functions.cpp.

getShapeSupport() [8/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupport ( const SmallConvex *  convex, const Vec3s &  dir, Vec3s &  support, int &  hint, ShapeSupportData &  data  )

inline

Support function for large ConvexBase (>32 vertices).

Definition at line 424 of file support_functions.cpp.

getShapeSupport() [9/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupport ( const Sphere *  sphere, const Vec3s &  dir, Vec3s &  support, int &  , ShapeSupportData &    )

inline

Sphere support function.

Definition at line 157 of file support_functions.cpp.

getShapeSupport() [10/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupport	(	const TriangleP *	triangle,
		const Vec3s &	dir,
		Vec3s &	support,
		int &	,
		ShapeSupportData &
	)

Triangle support function.

Definition at line 109 of file support_functions.cpp.

getShapeSupportLinear()

template<int _SupportOptions>

void coal::details::getShapeSupportLinear	(	const ConvexBase *	convex,
		const Vec3s &	dir,
		Vec3s &	support,
		int &	hint,
		ShapeSupportData &
	)

Definition at line 383 of file support_functions.cpp.

getShapeSupportLog()

template<int _SupportOptions>

void coal::details::getShapeSupportLog	(	const ConvexBase *	convex,
		const Vec3s &	dir,
		Vec3s &	support,
		int &	hint,
		ShapeSupportData &	support_data
	)

Definition at line 306 of file support_functions.cpp.

getShapeSupportSet() [1/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupportSet	(	const Box *	box,
		SupportSet &	support_set,
		int &	hint,
		ShapeSupportData &	support_data,
		size_t	num_sampled_supports = 6,
		CoalScalar	tol = 1e-3
	)

Box support set function. Assumes the support set frame has already been computed.

Definition at line 552 of file support_functions.cpp.

getShapeSupportSet() [2/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupportSet	(	const Capsule *	capsule,
		SupportSet &	support_set,
		int &	hint,
		ShapeSupportData &	support_data,
		size_t	num_sampled_supports = 6,
		CoalScalar	tol = 1e-3
	)

Capsule support set function. Assumes the support set frame has already been computed.

Definition at line 625 of file support_functions.cpp.

getShapeSupportSet() [3/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupportSet	(	const Cone *	cone,
		SupportSet &	support_set,
		int &	hint,
		ShapeSupportData &	support_data,
		size_t	num_sampled_supports = 6,
		CoalScalar	tol = 1e-3
	)

Cone support set function. Assumes the support set frame has already been computed.

Definition at line 669 of file support_functions.cpp.

getShapeSupportSet() [4/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupportSet	(	const ConvexBase *	convex,
		SupportSet &	support_set,
		int &	hint,
		ShapeSupportData &	support_data,
		size_t	num_sampled_supports = 6,
		CoalScalar	tol = 1e-3
	)

ConvexBase support set function. Assumes the support set frame has already been computed.

Note

See LargeConvex and SmallConvex to see how to optimize ConvexBase's support computation.

Definition at line 910 of file support_functions.cpp.

getShapeSupportSet() [5/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupportSet	(	const Cylinder *	cylinder,
		SupportSet &	support_set,
		int &	hint,
		ShapeSupportData &	support_data,
		size_t	num_sampled_supports = 6,
		CoalScalar	tol = 1e-3
	)

Cylinder support set function. Assumes the support set frame has already been computed.

Definition at line 740 of file support_functions.cpp.

getShapeSupportSet() [6/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupportSet	(	const Ellipsoid *	ellipsoid,
		SupportSet &	support_set,
		int &	hint,
		ShapeSupportData &	support_data,
		size_t	num_sampled_supports = 6,
		CoalScalar	tol = 1e-3
	)

Ellipsoid support set function. Assumes the support set frame has already been computed.

Definition at line 610 of file support_functions.cpp.

getShapeSupportSet() [7/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupportSet	(	const LargeConvex *	convex,
		SupportSet &	support_set,
		int &	hint,
		ShapeSupportData &	support_data,
		size_t	num_sampled_supports = 6,
		CoalScalar	tol = 1e-3
	)

Support set function for small ConvexBase (<32 vertices). Assumes the support set frame has already been computed.

Definition at line 940 of file support_functions.cpp.

getShapeSupportSet() [8/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupportSet	(	const SmallConvex *	convex,
		SupportSet &	support_set,
		int &	hint,
		ShapeSupportData &	support_data,
		size_t	num_sampled_supports = 6,
		CoalScalar	tol = 1e-3
	)

Support set function for large ConvexBase (>32 vertices). Assumes the support set frame has already been computed.

Definition at line 927 of file support_functions.cpp.

getShapeSupportSet() [9/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupportSet	(	const Sphere *	sphere,
		SupportSet &	support_set,
		int &	hint,
		ShapeSupportData &	support_data,
		size_t	num_sampled_supports = 6,
		CoalScalar	tol = 1e-3
	)

Sphere support set function. Assumes the support set frame has already been computed.

Definition at line 594 of file support_functions.cpp.

getShapeSupportSet() [10/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupportSet	(	const TriangleP *	triangle,
		SupportSet &	support_set,
		int &	hint,
		ShapeSupportData &	support_data,
		size_t	num_sampled_supports = 6,
		CoalScalar	tol = 1e-3
	)

Triangle support set function. Assumes the support set frame has already been computed.

Definition at line 505 of file support_functions.cpp.

getShapeSupportSetLinear()

template<int _SupportOptions>

void coal::details::getShapeSupportSetLinear	(	const ConvexBase *	convex,
		SupportSet &	support_set,
		int &	hint,
		ShapeSupportData &	support_data,
		size_t	,
		CoalScalar	tol
	)

Definition at line 802 of file support_functions.cpp.

getShapeSupportSetLog()

template<int _SupportOptions>

void coal::details::getShapeSupportSetLog	(	const ConvexBase *	convex,
		SupportSet &	support_set,
		int &	hint,
		ShapeSupportData &	support_data,
		size_t	,
		CoalScalar	tol
	)

Definition at line 878 of file support_functions.cpp.

getShapeSupportSetTpl()

template<typename ShapeType , int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupportSetTpl	(	const ShapeBase *	shape,
		SupportSet &	support_set,
		int &	hint,
		ShapeSupportData &	support_data,
		size_t	num_sampled_supports = 6,
		CoalScalar	tol = 1e-3
	)

Templated shape support set functions.

Definition at line 46 of file contact_patch_solver.cpp.

getShapeSupportSetTplInstantiation() [1/10]

coal::details::getShapeSupportSetTplInstantiation

(

Box

)

getShapeSupportSetTplInstantiation() [2/10]

coal::details::getShapeSupportSetTplInstantiation

(

Capsule

)

getShapeSupportSetTplInstantiation() [3/10]

coal::details::getShapeSupportSetTplInstantiation

(

Cone

)

getShapeSupportSetTplInstantiation() [4/10]

coal::details::getShapeSupportSetTplInstantiation

(

ConvexBase

)

getShapeSupportSetTplInstantiation() [5/10]

coal::details::getShapeSupportSetTplInstantiation

(

Cylinder

)

getShapeSupportSetTplInstantiation() [6/10]

coal::details::getShapeSupportSetTplInstantiation

(

Ellipsoid

)

getShapeSupportSetTplInstantiation() [7/10]

coal::details::getShapeSupportSetTplInstantiation

(

LargeConvex

)

getShapeSupportSetTplInstantiation() [8/10]

coal::details::getShapeSupportSetTplInstantiation

(

SmallConvex

)

getShapeSupportSetTplInstantiation() [9/10]

coal::details::getShapeSupportSetTplInstantiation

(

Sphere

)

getShapeSupportSetTplInstantiation() [10/10]

coal::details::getShapeSupportSetTplInstantiation

(

TriangleP

)

getShapeSupportTplInstantiation() [1/10]

coal::details::getShapeSupportTplInstantiation

(

Box

)

getShapeSupportTplInstantiation() [2/10]

coal::details::getShapeSupportTplInstantiation

(

Capsule

)

getShapeSupportTplInstantiation() [3/10]

coal::details::getShapeSupportTplInstantiation

(

Cone

)

getShapeSupportTplInstantiation() [4/10]

coal::details::getShapeSupportTplInstantiation

(

ConvexBase

)

getShapeSupportTplInstantiation() [5/10]

coal::details::getShapeSupportTplInstantiation

(

Cylinder

)

getShapeSupportTplInstantiation() [6/10]

coal::details::getShapeSupportTplInstantiation

(

Ellipsoid

)

getShapeSupportTplInstantiation() [7/10]

coal::details::getShapeSupportTplInstantiation

(

LargeConvex

)

getShapeSupportTplInstantiation() [8/10]

coal::details::getShapeSupportTplInstantiation

(

SmallConvex

)

getShapeSupportTplInstantiation() [9/10]

coal::details::getShapeSupportTplInstantiation

(

Sphere

)

getShapeSupportTplInstantiation() [10/10]

coal::details::getShapeSupportTplInstantiation

(

TriangleP

)

getSupport()

template<int _SupportOptions = SupportOptions::NoSweptSphere>

Vec3s coal::details::getSupport	(	const ShapeBase *	shape,
		const Vec3s &	dir,
		int &	hint
	)

the support function for shape. The output support point is expressed in the local frame of the shape.

Returns

a point which belongs to the set {argmax_{v in shape} v.dot(dir)}.

Parameters

shape	the shape.
dir	support direction.
hint	used to initialize the search when shape is a ConvexBase object.

Template Parameters

SupportOptions

is a value of the SupportOptions enum. If set to WithSweptSphere, the support functions take into account the shapes' swept sphere radii. Please see MinkowskiDiff::set(const ShapeBase*, const ShapeBase*) for more details.

Definition at line 51 of file support_functions.cpp.

getSupport< SupportOptions::NoSweptSphere >()

template COAL_DLLAPI Vec3s coal::details::getSupport< SupportOptions::NoSweptSphere >	(	const ShapeBase *	,
		const Vec3s &	,
		int &
	)

getSupport< SupportOptions::WithSweptSphere >()

template COAL_DLLAPI Vec3s coal::details::getSupport< SupportOptions::WithSweptSphere >	(	const ShapeBase *	,
		const Vec3s &	,
		int &
	)

getSupportFuncTpl()

template<typename Shape0 , typename Shape1 , bool TransformIsIdentity, int _SupportOptions>

void coal::details::getSupportFuncTpl	(	const MinkowskiDiff &	md,
		const Vec3s &	dir,
		Vec3s &	support0,
		Vec3s &	support1,
		support_func_guess_t &	hint,
		ShapeSupportData	data[2]
	)

Definition at line 67 of file minkowski_difference.cpp.

getSupportSet() [1/2]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getSupportSet	(	const ShapeBase *	shape,
		const Vec3s &	dir,
		SupportSet &	support_set,
		int &	hint,
		size_t	num_sampled_supports = 6,
		CoalScalar	tol = 1e-3
	)

Same as getSupportSet(const ShapeBase*, const CoalScalar, SupportSet&, const int) but also constructs the support set frame from dir.

Note

The support direction dir is expressed in the local frame of the shape.

This function automatically deals with the direction of the SupportSet.

Definition at line 206 of file coal/narrowphase/support_functions.h.

getSupportSet() [2/2]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getSupportSet	(	const ShapeBase *	shape,
		SupportSet &	support_set,
		int &	hint,
		size_t	num_sampled_supports = 6,
		CoalScalar	tol = 1e-3
	)

Computes the support set for shape. This function assumes the frame of the support set has already been computed and that this frame is expressed w.r.t the local frame of the shape (i.e. the local frame of the shape is the WORLD frame of the support set). The support direction used to compute the support set is the positive z-axis if the support set has the DEFAULT direction; negative z-axis if it has the INVERTED direction. (In short, a shape's support set is has the DEFAULT direction if the shape is the first shape in a collision pair. It has the INVERTED direction if the shape is the second one in the collision pair).

Returns

an approximation of the set {argmax_{v in shape} v.dot(dir)}, where dir is the support set's support direction. The support set is a plane passing by the origin of the support set frame and supported by the direction dir. As a consequence, any point added to the set is automatically projected onto this plane.

Parameters

[in]	shape	the shape.
	[in/out]	support_set of shape.
	[in/out]	hint used to initialize the search when shape is a ConvexBase object.
[in]	num_sampled_supports	is only used for shapes with smooth non-strictly convex bases like cones and cylinders (their bases are circles). In such a case, if the support direction points to their base, we have to choose which points we want to add to the set. This is not needed for boxes or ConvexBase for example. Indeed, because their support sets are always polygons, we can characterize the entire support set with the vertices of the polygon.
[in]	tol	given a point v on the shape, if max_{p in shape}(p.dot(dir)) - v.dot(dir) <= tol, where dir is the set's support direction, then v is added to the support set. Otherwise said, if a point p of the shape is at a distance tol from the support plane, it is added to the set. Thus, tol can be seen as the "thickness" of the support plane.

Template Parameters

SupportOptions

is a value of the SupportOptions enum. If set to WithSweptSphere, the support functions take into account the shapes' swept sphere radii.

Definition at line 450 of file support_functions.cpp.

getSupportSet< SupportOptions::NoSweptSphere >()

template COAL_DLLAPI void coal::details::getSupportSet< SupportOptions::NoSweptSphere >	(	const ShapeBase *	,
		SupportSet &	,
		int &	,
		size_t	,
		CoalScalar
	)

getSupportSet< SupportOptions::WithSweptSphere >()

template COAL_DLLAPI void coal::details::getSupportSet< SupportOptions::WithSweptSphere >	(	const ShapeBase *	,
		SupportSet &	,
		int &	,
		size_t	,
		CoalScalar
	)

getSupportTpl()

template<typename Shape0 , typename Shape1 , bool TransformIsIdentity, int _SupportOptions>

void coal::details::getSupportTpl	(	const Shape0 *	s0,
		const Shape1 *	s1,
		const Matrix3s &	oR1,
		const Vec3s &	ot1,
		const Vec3s &	dir,
		Vec3s &	support0,
		Vec3s &	support1,
		support_func_guess_t &	hint,
		ShapeSupportData	data[2]
	)

Definition at line 48 of file minkowski_difference.cpp.

halfspaceDistance()

CoalScalar coal::details::halfspaceDistance ( const Halfspace &  h, const Transform3s &  tf1, const ShapeBase &  s, const Transform3s &  tf2, Vec3s &  p1, Vec3s &  p2, Vec3s &  normal  )

inline

Parameters

p1	closest (or most penetrating) point on the Halfspace,
p2	closest (or most penetrating) point on the shape,
normal	the halfspace normal.

Returns

the distance between the two shapes (negative if penetration).

Definition at line 350 of file details.h.

halfspaceHalfspaceDistance()

CoalScalar coal::details::halfspaceHalfspaceDistance ( const Halfspace &  s1, const Transform3s &  tf1, const Halfspace &  s2, const Transform3s &  tf2, Vec3s &  p1, Vec3s &  p2, Vec3s &  normal  )

inline

return distance between two halfspaces

Parameters

p1	the witness point on the first halfspace.
p2	the witness point on the second halfspace.
normal	pointing from first to second halfspace.

Returns

the distance between the two shapes (negative if penetration).

Note

If the two halfspaces don't have the same normal (or opposed normals), they collide and their distance is set to -infinity as there is no translation that can separate them; they have infinite penetration depth. The points p1 and p2 are the same point and represent the origin of the intersection line between the objects. The normal is the direction of this line.

Definition at line 512 of file details.h.

halfspacePlaneDistance()

CoalScalar coal::details::halfspacePlaneDistance ( const Halfspace &  s1, const Transform3s &  tf1, const Plane &  s2, const Transform3s &  tf2, Vec3s &  p1, Vec3s &  p2, Vec3s &  normal  )

inline

return distance between plane and halfspace.

Parameters

p1	the witness point on the halfspace.
p2	the witness point on the plane.
normal	pointing from halfspace to plane.

Returns

the distance between the two shapes (negative if penetration).

Note

If plane and halfspace don't have the same normal (or opposed normals), they collide and their distance is set to -infinity as there is no translation that can separate them; they have infinite penetration depth. The points p1 and p2 are the same point and represent the origin of the intersection line between the objects. The normal is the direction of this line.

Definition at line 588 of file details.h.

lineSegmentPointClosestToPoint()

static void coal::details::lineSegmentPointClosestToPoint ( const Vec3s &  p, const Vec3s &  s1, const Vec3s &  s2, Vec3s &  sp  )

inlinestatic

Definition at line 51 of file details.h.

makeGetSupportFunction0()

template<int _SupportOptions>

MinkowskiDiff::GetSupportFunction coal::details::makeGetSupportFunction0	(	const ShapeBase *	s0,
		const ShapeBase *	s1,
		bool	identity,
		Eigen::Array< CoalScalar, 1, 2 > &	swept_sphere_radius,
		ShapeSupportData	data[2]
	)

Definition at line 159 of file minkowski_difference.cpp.

makeGetSupportFunction1()

template<typename Shape0 , int _SupportOptions>

MinkowskiDiff::GetSupportFunction coal::details::makeGetSupportFunction1	(	const ShapeBase *	s1,
		bool	identity,
		Eigen::Array< CoalScalar, 1, 2 > &	swept_sphere_radius,
		ShapeSupportData	data[2]
	)

Definition at line 78 of file minkowski_difference.cpp.

MinkowskiDiff::set< SupportOptions::NoSweptSphere >() [1/2]

template void COAL_DLLAPI coal::details::MinkowskiDiff::set< SupportOptions::NoSweptSphere >	(	const ShapeBase *	,
		const ShapeBase *
	)

MinkowskiDiff::set< SupportOptions::NoSweptSphere >() [2/2]

template void COAL_DLLAPI coal::details::MinkowskiDiff::set< SupportOptions::NoSweptSphere >	(	const ShapeBase *	,
		const ShapeBase *	,
		const Transform3s &	,
		const Transform3s &
	)

MinkowskiDiff::set< SupportOptions::WithSweptSphere >() [1/2]

template void COAL_DLLAPI coal::details::MinkowskiDiff::set< SupportOptions::WithSweptSphere >	(	const ShapeBase *	,
		const ShapeBase *
	)

MinkowskiDiff::set< SupportOptions::WithSweptSphere >() [2/2]

template void COAL_DLLAPI coal::details::MinkowskiDiff::set< SupportOptions::WithSweptSphere >	(	const ShapeBase *	,
		const ShapeBase *	,
		const Transform3s &	,
		const Transform3s &
	)

MinkowskiDiff::support0< SupportOptions::NoSweptSphere >()

template Vec3s COAL_DLLAPI coal::details::MinkowskiDiff::support0< SupportOptions::NoSweptSphere >	(	const Vec3s &	,
		int &
	)		const

MinkowskiDiff::support0< SupportOptions::WithSweptSphere >()

template Vec3s COAL_DLLAPI coal::details::MinkowskiDiff::support0< SupportOptions::WithSweptSphere >	(	const Vec3s &	,
		int &
	)		const

MinkowskiDiff::support1< SupportOptions::NoSweptSphere >()

template Vec3s COAL_DLLAPI coal::details::MinkowskiDiff::support1< SupportOptions::NoSweptSphere >	(	const Vec3s &	,
		int &
	)		const

MinkowskiDiff::support1< SupportOptions::WithSweptSphere >()

template Vec3s COAL_DLLAPI coal::details::MinkowskiDiff::support1< SupportOptions::WithSweptSphere >	(	const Vec3s &	,
		int &
	)		const

orientedBVHShapeDistance()

template<typename OrientedMeshShapeDistanceTraversalNode , typename T_BVH , typename T_SH >

CoalScalar coal::details::orientedBVHShapeDistance	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	nsolver,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Definition at line 111 of file distance_func_matrix.cpp.

orientedMeshCollide()

template<typename OrientedMeshCollisionTraversalNode , typename T_BVH >

std::size_t coal::details::orientedMeshCollide	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const CollisionRequest &	request,
		CollisionResult &	result
	)

Definition at line 186 of file collision_func_matrix.cpp.

orientedMeshDistance()

template<typename OrientedMeshDistanceTraversalNode , typename T_BVH >

CoalScalar coal::details::orientedMeshDistance	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Definition at line 225 of file distance_func_matrix.cpp.

originToPoint()

void coal::details::originToPoint ( const GJK::Simplex &  current, GJK::vertex_id_t  a, const Vec3s &  A, GJK::Simplex &  next, Vec3s &  ray  )

inline

Definition at line 495 of file src/narrowphase/gjk.cpp.

originToSegment()

void coal::details::originToSegment ( const GJK::Simplex &  current, GJK::vertex_id_t  a, GJK::vertex_id_t  b, const Vec3s &  A, const Vec3s &  B, const Vec3s &  AB, const CoalScalar &  ABdotAO, GJK::Simplex &  next, Vec3s &  ray  )

inline

Definition at line 503 of file src/narrowphase/gjk.cpp.

originToTriangle()

bool coal::details::originToTriangle ( const GJK::Simplex &  current, GJK::vertex_id_t  a, GJK::vertex_id_t  b, GJK::vertex_id_t  c, const Vec3s &  ABC, const CoalScalar &  ABCdotAO, GJK::Simplex &  next, Vec3s &  ray  )

inline

Definition at line 518 of file src/narrowphase/gjk.cpp.

planeDistance()

CoalScalar coal::details::planeDistance ( const Plane &  plane, const Transform3s &  tf1, const ShapeBase &  s, const Transform3s &  tf2, Vec3s &  p1, Vec3s &  p2, Vec3s &  normal  )

inline

Parameters

p1	closest (or most penetrating) point on the Plane,
p2	closest (or most penetrating) point on the shape,
normal	the halfspace normal.

Returns

the distance between the two shapes (negative if penetration).

Definition at line 384 of file details.h.

planePlaneDistance()

CoalScalar coal::details::planePlaneDistance ( const Plane &  s1, const Transform3s &  tf1, const Plane &  s2, const Transform3s &  tf2, Vec3s &  p1, Vec3s &  p2, Vec3s &  normal  )

inline

return distance between two planes

Parameters

p1	the witness point on the first plane.
p2	the witness point on the second plane.
normal	pointing from first to second plane.

Returns

the distance between the two shapes (negative if penetration).

Note

If the two planes don't have the same normal (or opposed normals), they collide and their distance is set to -infinity as there is no translation that can separate them; they have infinite penetration depth. The points p1 and p2 are the same point and represent the origin of the intersection line between the objects. The normal is the direction of this line.

Definition at line 650 of file details.h.

projectInTriangle()

bool coal::details::projectInTriangle ( const Vec3s &  p1, const Vec3s &  p2, const Vec3s &  p3, const Vec3s &  normal, const Vec3s &  p  )

inline

Whether a point's projection is in a triangle.

Definition at line 260 of file details.h.

segmentSqrDistance()

CoalScalar coal::details::segmentSqrDistance ( const Vec3s &  from, const Vec3s &  to, const Vec3s &  p, Vec3s &  nearest  )

inline

the minimum distance from a point to a line

Definition at line 237 of file details.h.

sphereCapsuleDistance()

CoalScalar coal::details::sphereCapsuleDistance ( const Sphere &  s1, const Transform3s &  tf1, const Capsule &  s2, const Transform3s &  tf2, Vec3s &  p1, Vec3s &  p2, Vec3s &  normal  )

inline

Parameters

p1	witness point on the Sphere.
p2	witness point on the Capsule.
normal	pointing from shape 1 to shape 2 (sphere to capsule).

Returns

the distance between the two shapes (negative if penetration).

Definition at line 75 of file details.h.

sphereCylinderDistance()

CoalScalar coal::details::sphereCylinderDistance ( const Sphere &  s1, const Transform3s &  tf1, const Cylinder &  s2, const Transform3s &  tf2, Vec3s &  p1, Vec3s &  p2, Vec3s &  normal  )

inline

Parameters

p1	witness point on the Sphere.
p2	witness point on the Cylinder.
normal	pointing from shape 1 to shape 2 (sphere to cylinder).

Returns

the distance between the two shapes (negative if penetration).

Todo:

a tiny performance improvement could be achieved using the abscissa with S as the origin

Definition at line 108 of file details.h.

sphereSphereDistance()

CoalScalar coal::details::sphereSphereDistance ( const Sphere &  s1, const Transform3s &  tf1, const Sphere &  s2, const Transform3s &  tf2, Vec3s &  p1, Vec3s &  p2, Vec3s &  normal  )

inline

Parameters

p1	witness point on the first Sphere.
p2	witness point on the second Sphere.
normal	pointing from shape 1 to shape 2 (sphere1 to sphere2).

Returns

the distance between the two spheres (negative if penetration).

Definition at line 217 of file details.h.

sphereTriangleDistance()

CoalScalar coal::details::sphereTriangleDistance ( const Sphere &  s, const Transform3s &  tf1, const TriangleP &  tri, const Transform3s &  tf2, Vec3s &  p1, Vec3s &  p2, Vec3s &  normal  )

inline

Parameters

p1	witness point on the first Sphere.
p2	witness point on the second Sphere.
normal	pointing from shape 1 to shape 2 (sphere1 to sphere2).

Returns

the distance between the two shapes (negative if penetration).

Definition at line 288 of file details.h.