gjk_libccd.cpp
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35 
38 #include "fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd-inl.h"
39 
40 namespace fcl
41 {
42 
43 namespace detail
44 {
45 
46 //==============================================================================
47 template
48 class GJKInitializer<double, Cylinder<double>>;
49 
50 //==============================================================================
51 template
52 class GJKInitializer<double, Sphere<double>>;
53 
54 //==============================================================================
55 template
56 class GJKInitializer<double, Ellipsoid<double>>;
57 
58 //==============================================================================
59 template
60 class GJKInitializer<double, Box<double>>;
61 
62 //==============================================================================
63 template
64 class GJKInitializer<double, Capsule<double>>;
65 
66 //==============================================================================
67 template
68 class GJKInitializer<double, Cone<double>>;
69 
70 //==============================================================================
71 template
72 class GJKInitializer<double, Convex<double>>;
73 
74 //==============================================================================
75 template
76 void* triCreateGJKObject(
77  const Vector3d& P1, const Vector3d& P2, const Vector3d& P3);
78 
79 //==============================================================================
80 template
81 void* triCreateGJKObject(
82  const Vector3d& P1,
83  const Vector3d& P2,
84  const Vector3d& P3,
85  const Transform3d& tf);
86 
87 //==============================================================================
88 template
89 bool GJKCollide(
90  void* obj1,
91  ccd_support_fn supp1,
92  ccd_center_fn cen1,
93  void* obj2,
94  ccd_support_fn supp2,
95  ccd_center_fn cen2,
96  unsigned int max_iterations,
97  double tolerance,
98  Vector3d* contact_points,
99  double* penetration_depth,
100  Vector3d* normal);
101 
102 //==============================================================================
103 template
104 bool GJKDistance(
105  void* obj1,
106  ccd_support_fn supp1,
107  void* obj2,
108  ccd_support_fn supp2,
109  unsigned int max_iterations,
110  double tolerance,
111  double* dist,
112  Vector3d* p1,
113  Vector3d* p2);
114 
115 template
116 bool GJKSignedDistance(
117  void* obj1,
118  ccd_support_fn supp1,
119  void* obj2,
120  ccd_support_fn supp2,
121  unsigned int max_iterations,
122  double tolerance,
123  double* dist,
124  Vector3d* p1,
125  Vector3d* p2);
126 
127 } // namespace detail
128 } // namespace fcl
obj2
CollisionObject< S > * obj2
Definition: broadphase_SaP.h:211
fcl::detail::GJKCollide
template bool GJKCollide(void *obj1, ccd_support_fn supp1, ccd_center_fn cen1, void *obj2, ccd_support_fn supp2, ccd_center_fn cen2, unsigned int max_iterations, double tolerance, Vector3d *contact_points, double *penetration_depth, Vector3d *normal)
fcl::Transform3d
Transform3< double > Transform3d
Definition: types.h:117
obj1
CollisionObject< S > * obj1
Definition: broadphase_SaP.h:210
gjk_libccd-inl.h
fcl::detail::triCreateGJKObject
template void * triCreateGJKObject(const Vector3d &P1, const Vector3d &P2, const Vector3d &P3)
Vector3d
fcl::Vector3d Vector3d
Definition: test_broadphase_dynamic_AABB_tree.cpp:48
tolerance
S tolerance()
Definition: test_fcl_geometric_shapes.cpp:87
fcl::detail::GJKDistance
template bool GJKDistance(void *obj1, ccd_support_fn supp1, void *obj2, ccd_support_fn supp2, unsigned int max_iterations, double tolerance, double *dist, Vector3d *p1, Vector3d *p2)
fcl::detail::GJKSignedDistance
template bool GJKSignedDistance(void *obj1, ccd_support_fn supp1, void *obj2, ccd_support_fn supp2, unsigned int max_iterations, double tolerance, double *dist, Vector3d *p1, Vector3d *p2)
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45

fcl
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autogenerated on Tue Dec 5 2023 03:40:48