gjk.h File Reference

#include "fcl/shape/geometric_shapes.h"
#include "fcl/math/transform.h"

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Classes
struct	fcl::details::EPA
	class for EPA algorithm More...
struct	fcl::details::GJK
	class for GJK algorithm More...
struct	fcl::details::MinkowskiDiff
	Minkowski difference class of two shapes. More...
struct	fcl::details::GJK::Simplex
struct	fcl::details::EPA::SimplexF
struct	fcl::details::EPA::SimplexHorizon
struct	fcl::details::EPA::SimplexList
struct	fcl::details::GJK::SimplexV
Namespaces
namespace	fcl
	Main namespace.
namespace	fcl::details
	FCL internals. Ignore this :) unless you are God.
Functions
Vec3f	fcl::details::getSupport (const ShapeBase *shape, const Vec3f &dir)
	the support function for shape
FCL_REAL	fcl::details::projectOrigin (const Vec3f &a, const Vec3f &b, FCL_REAL *w, size_t &m)
	project origin on to a line (a, b). w[0:1] return the (0, 1) parameterization of the projected point. m is a encode about the result case: 0x10--> project is larger than b; 0x01--> project is smaller than a; 0x11-> within the line; return value is distance between the origin and its projection.
FCL_REAL	fcl::details::projectOrigin (const Vec3f &a, const Vec3f &b, const Vec3f &c, FCL_REAL *w, size_t &m)
	project origin on to a triangle (a, b, c). w[0:2] return the (0, 1) parameterization of the projected point. m is a encode about the result case. return value is distance between the origin and its projection.
FCL_REAL	fcl::details::projectOrigin (const Vec3f &a, const Vec3f &b, const Vec3f &c, const Vec3f &d, FCL_REAL *w, size_t &m)
	project origin on to a tetrahedra (a, b, c, d). w[0:3] return the (0, 1) parameterization of the projected point. m is a encode about the result case. return value is distance between the origin and its projection.
Variables
static const FCL_REAL	fcl::details::EPA_EPS = 0.000001
static const size_t	fcl::details::EPA_MAX_FACES = 128
static const size_t	fcl::details::EPA_MAX_ITERATIONS = 255
static const size_t	fcl::details::EPA_MAX_VERTICES = 64