gjk_libccd.h File Reference

#include "fcl/shape/geometric_shapes.h"
#include "fcl/math/transform.h"
#include <ccd/ccd.h>
#include <ccd/quat.h>

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Classes
class	fcl::details::GJKInitializer< T >
	initialize GJK stuffs More...
class	fcl::details::GJKInitializer< Box >
	initialize GJK Box More...
class	fcl::details::GJKInitializer< Capsule >
	initialize GJK Capsule More...
class	fcl::details::GJKInitializer< Cone >
	initialize GJK Cone More...
class	fcl::details::GJKInitializer< Convex >
	initialize GJK Convex More...
class	fcl::details::GJKInitializer< Cylinder >
	initialize GJK Cylinder More...
class	fcl::details::GJKInitializer< Sphere >
	initialize GJK Sphere More...
Namespaces
namespace	fcl
	Main namespace.
namespace	fcl::details
	FCL internals. Ignore this :) unless you are God.
Typedefs
typedef void(*	fcl::details::GJKCenterFunction )(const void *obj, ccd_vec3_t *c)
typedef void(*	fcl::details::GJKSupportFunction )(const void *obj, const ccd_vec3_t *dir_, ccd_vec3_t *v)
	callback function used by GJK algorithm
Functions
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)
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