fcl: gjk_libccd.cpp File Reference

#include "fcl/narrowphase/gjk_libccd.h"
#include <ccd/simplex.h>
#include <ccd/vec3.h>

Include dependency graph for gjk_libccd.cpp:

Classes
struct	fcl::details::ccd_box_t
struct	fcl::details::ccd_cap_t
struct	fcl::details::ccd_cone_t
struct	fcl::details::ccd_convex_t
struct	fcl::details::ccd_cyl_t
struct	fcl::details::ccd_obj_t
struct	fcl::details::ccd_sphere_t
struct	fcl::details::ccd_triangle_t
Namespaces
namespace	fcl
	Main namespace.
namespace	fcl::details
	FCL internals. Ignore this :) unless you are God.
Functions
static ccd_real_t	fcl::details::__ccdGJKDist (const void obj1, const void obj2, const ccd_t ccd, ccd_simplex_t simplex, ccd_real_t tolerance)
static void	fcl::details::boxToGJK (const Box &s, const Transform3f &tf, ccd_box_t *box)
static void	fcl::details::capToGJK (const Capsule &s, const Transform3f &tf, ccd_cap_t *cap)
static void	fcl::details::centerConvex (const void obj, ccd_vec3_t c)
static void	fcl::details::centerShape (const void obj, ccd_vec3_t c)
static void	fcl::details::centerTriangle (const void obj, ccd_vec3_t c)
static void	fcl::details::coneToGJK (const Cone &s, const Transform3f &tf, ccd_cone_t *cone)
static void	fcl::details::convexToGJK (const Convex &s, const Transform3f &tf, ccd_convex_t *conv)
static void	fcl::details::cylToGJK (const Cylinder &s, const Transform3f &tf, ccd_cyl_t *cyl)
static int	fcl::details::doSimplex2Dist (ccd_simplex_t simplex, ccd_vec3_t dir, ccd_real_t *dist)
static int	fcl::details::doSimplex3Dist (ccd_simplex_t simplex, ccd_vec3_t dir, ccd_real_t *dist)
static int	fcl::details::doSimplex4Dist (ccd_simplex_t simplex, ccd_vec3_t dir, ccd_real_t *dist)
static int	fcl::details::doSimplexDist (ccd_simplex_t simplex, ccd_vec3_t dir, ccd_real_t *dist)
bool	fcl::details::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, FCL_REAL tolerance, Vec3f contact_points, FCL_REAL penetration_depth, Vec3f *normal)
	GJK collision algorithm.
bool	fcl::details::GJKDistance (void obj1, ccd_support_fn supp1, void obj2, ccd_support_fn supp2, unsigned int max_iterations, FCL_REAL tolerance, FCL_REAL *dist)
static void	fcl::details::shapeToGJK (const ShapeBase &s, const Transform3f &tf, ccd_obj_t *o)
static void	fcl::details::sphereToGJK (const Sphere &s, const Transform3f &tf, ccd_sphere_t *sph)
static void	fcl::details::supportBox (const void obj, const ccd_vec3_t dir_, ccd_vec3_t *v)
static void	fcl::details::supportCap (const void obj, const ccd_vec3_t dir_, ccd_vec3_t *v)
static void	fcl::details::supportCone (const void obj, const ccd_vec3_t dir_, ccd_vec3_t *v)
static void	fcl::details::supportConvex (const void obj, const ccd_vec3_t dir_, ccd_vec3_t *v)
static void	fcl::details::supportCyl (const void obj, const ccd_vec3_t dir_, ccd_vec3_t *v)
static void	fcl::details::supportSphere (const void obj, const ccd_vec3_t dir_, ccd_vec3_t *v)
static void	fcl::details::supportTriangle (const void obj, const ccd_vec3_t dir_, ccd_vec3_t *v)
void *	fcl::details::triCreateGJKObject (const Vec3f &P1, const Vec3f &P2, const Vec3f &P3)
void *	fcl::details::triCreateGJKObject (const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf)
void	fcl::details::triDeleteGJKObject (void *o)
GJKCenterFunction	fcl::details::triGetCenterFunction ()
GJKSupportFunction	fcl::details::triGetSupportFunction ()
	initialize GJK Triangle
static void	fcl::details::tripleCross (const ccd_vec3_t a, const ccd_vec3_t b, const ccd_vec3_t c, ccd_vec3_t d)

Classes

Namespaces

Functions