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fcl::GJKSolver_libccd Struct Reference

collision and distance solver based on libccd library. More...

#include <narrowphase.h>

List of all members.

Public Member Functions

 GJKSolver_libccd ()
 default setting for GJK algorithm
template<typename S1 , typename S2 >
bool shapeDistance (const S1 &s1, const Transform3f &tf1, const S2 &s2, const Transform3f &tf2, FCL_REAL *dist) const
 distance computation between two shapes
template<>
bool shapeDistance (const Sphere &s1, const Transform3f &tf1, const Sphere &s2, const Transform3f &tf2, FCL_REAL *dist) const
 Fast implementation for sphere-sphere distance.
template<>
bool shapeDistance (const Sphere &s1, const Transform3f &tf1, const Sphere &s2, const Transform3f &tf2, FCL_REAL *dist) const
template<typename S1 , typename S2 >
bool shapeIntersect (const S1 &s1, const Transform3f &tf1, const S2 &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
 intersection checking between two shapes
template<>
bool shapeIntersect (const Sphere &s1, const Transform3f &tf1, const Sphere &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
 Fast implementation for sphere-sphere collision.
template<>
bool shapeIntersect (const Box &s1, const Transform3f &tf1, const Box &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
 Fast implementation for box-box collision.
template<>
bool shapeIntersect (const Sphere &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
template<>
bool shapeIntersect (const Box &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
template<>
bool shapeIntersect (const Capsule &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
template<>
bool shapeIntersect (const Cylinder &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
template<>
bool shapeIntersect (const Cone &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
template<>
bool shapeIntersect (const Halfspace &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
template<>
bool shapeIntersect (const Plane &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
template<>
bool shapeIntersect (const Sphere &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
template<>
bool shapeIntersect (const Box &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
template<>
bool shapeIntersect (const Capsule &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
template<>
bool shapeIntersect (const Cylinder &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
template<>
bool shapeIntersect (const Cone &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
template<>
bool shapeIntersect (const Halfspace &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
template<>
bool shapeIntersect (const Plane &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
template<>
bool shapeIntersect (const Sphere &s1, const Transform3f &tf1, const Sphere &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
template<>
bool shapeIntersect (const Box &s1, const Transform3f &tf1, const Box &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
template<>
bool shapeIntersect (const Sphere &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
template<>
bool shapeIntersect (const Box &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
template<>
bool shapeIntersect (const Capsule &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
template<>
bool shapeIntersect (const Cylinder &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
template<>
bool shapeIntersect (const Cone &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
template<>
bool shapeIntersect (const Halfspace &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
template<>
bool shapeIntersect (const Plane &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
template<>
bool shapeIntersect (const Sphere &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
template<>
bool shapeIntersect (const Box &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
template<>
bool shapeIntersect (const Capsule &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
template<>
bool shapeIntersect (const Cylinder &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
template<>
bool shapeIntersect (const Cone &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
template<>
bool shapeIntersect (const Halfspace &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
template<>
bool shapeIntersect (const Plane &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
template<typename S >
bool shapeTriangleDistance (const S &s, const Transform3f &tf, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, FCL_REAL *dist) const
 distance computation between one shape and a triangle
template<typename S >
bool shapeTriangleDistance (const S &s, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf2, FCL_REAL *dist) const
 distance computation between one shape and a triangle with transformation
template<>
bool shapeTriangleDistance (const Sphere &s, const Transform3f &tf, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, FCL_REAL *dist) const
 Fast implementation for sphere-triangle distance.
template<>
bool shapeTriangleDistance (const Sphere &s, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf2, FCL_REAL *dist) const
 Fast implementation for sphere-triangle distance.
template<>
bool shapeTriangleDistance (const Sphere &s, const Transform3f &tf, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, FCL_REAL *dist) const
template<>
bool shapeTriangleDistance (const Sphere &s, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf2, FCL_REAL *dist) const
template<typename S >
bool shapeTriangleIntersect (const S &s, const Transform3f &tf, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
 intersection checking between one shape and a triangle
template<typename S >
bool shapeTriangleIntersect (const S &s, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
template<>
bool shapeTriangleIntersect (const Sphere &s, const Transform3f &tf, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
 Fast implementation for sphere-triangle collision.
template<>
bool shapeTriangleIntersect (const Sphere &s, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
 Fast implementation for sphere-triangle collision.
template<>
bool shapeTriangleIntersect (const Halfspace &s, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
template<>
bool shapeTriangleIntersect (const Plane &s, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const

Public Attributes

FCL_REAL collision_tolerance
 the threshold used in GJK algorithm to stop collision iteration
FCL_REAL distance_tolerance
 the threshold used in GJK algorithm to stop distance iteration
unsigned int max_collision_iterations
 maximum number of iterations used in GJK algorithm for collision
unsigned int max_distance_iterations
 maximum number of iterations used in GJK algorithm for distance

Detailed Description

collision and distance solver based on libccd library.

Definition at line 49 of file narrowphase.h.

Constructor & Destructor Documentation

fcl::GJKSolver_libccd::GJKSolver_libccd ( ) [inline]

default setting for GJK algorithm

Definition at line 174 of file narrowphase.h.

Member Function Documentation

template<typename S1 , typename S2 >
bool fcl::GJKSolver_libccd::shapeDistance ( const S1 &  s1,
const Transform3f &  tf1,
const S2 &  s2,
const Transform3f &  tf2,
FCL_REAL *  dist 
) const [inline]

distance computation between two shapes

Definition at line 113 of file narrowphase.h.

template<>
bool fcl::GJKSolver_libccd::shapeDistance ( const Sphere &  s1,
const Transform3f &  tf1,
const Sphere &  s2,
const Transform3f &  tf2,
FCL_REAL *  dist 
) const

Fast implementation for sphere-sphere distance.

template<>
bool fcl::GJKSolver_libccd::shapeDistance ( const Sphere &  s1,
const Transform3f &  tf1,
const Sphere &  s2,
const Transform3f &  tf2,
FCL_REAL *  dist 
) const

Definition at line 2469 of file narrowphase.cpp.

template<typename S1 , typename S2 >
bool fcl::GJKSolver_libccd::shapeIntersect ( const S1 &  s1,
const Transform3f &  tf1,
const S2 &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const [inline]

intersection checking between two shapes

Definition at line 53 of file narrowphase.h.

template<>
bool fcl::GJKSolver_libccd::shapeIntersect ( const Sphere &  s1,
const Transform3f &  tf1,
const Sphere &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const

Fast implementation for sphere-sphere collision.

template<>
bool fcl::GJKSolver_libccd::shapeIntersect ( const Box &  s1,
const Transform3f &  tf1,
const Box &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const

Fast implementation for box-box collision.

template<>
bool fcl::GJKSolver_libccd::shapeIntersect ( const Sphere &  s1,
const Transform3f &  tf1,
const Halfspace &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const
template<>
bool fcl::GJKSolver_libccd::shapeIntersect ( const Box &  s1,
const Transform3f &  tf1,
const Halfspace &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const
template<>
bool fcl::GJKSolver_libccd::shapeIntersect ( const Capsule &  s1,
const Transform3f &  tf1,
const Halfspace &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const
template<>
bool fcl::GJKSolver_libccd::shapeIntersect ( const Cylinder &  s1,
const Transform3f &  tf1,
const Halfspace &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const
template<>
bool fcl::GJKSolver_libccd::shapeIntersect ( const Cone &  s1,
const Transform3f &  tf1,
const Halfspace &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const
template<>
bool fcl::GJKSolver_libccd::shapeIntersect ( const Halfspace &  s1,
const Transform3f &  tf1,
const Halfspace &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const
template<>
bool fcl::GJKSolver_libccd::shapeIntersect ( const Plane &  s1,
const Transform3f &  tf1,
const Halfspace &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const
template<>
bool fcl::GJKSolver_libccd::shapeIntersect ( const Sphere &  s1,
const Transform3f &  tf1,
const Plane &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const
template<>
bool fcl::GJKSolver_libccd::shapeIntersect ( const Box &  s1,
const Transform3f &  tf1,
const Plane &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const
template<>
bool fcl::GJKSolver_libccd::shapeIntersect ( const Capsule &  s1,
const Transform3f &  tf1,
const Plane &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const
template<>
bool fcl::GJKSolver_libccd::shapeIntersect ( const Cylinder &  s1,
const Transform3f &  tf1,
const Plane &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const
template<>
bool fcl::GJKSolver_libccd::shapeIntersect ( const Cone &  s1,
const Transform3f &  tf1,
const Plane &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const
template<>
bool fcl::GJKSolver_libccd::shapeIntersect ( const Halfspace &  s1,
const Transform3f &  tf1,
const Plane &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const
template<>
bool fcl::GJKSolver_libccd::shapeIntersect ( const Plane &  s1,
const Transform3f &  tf1,
const Plane &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const
template<>
bool fcl::GJKSolver_libccd::shapeIntersect ( const Sphere &  s1,
const Transform3f &  tf1,
const Sphere &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const

Definition at line 2296 of file narrowphase.cpp.

template<>
bool fcl::GJKSolver_libccd::shapeIntersect ( const Box &  s1,
const Transform3f &  tf1,
const Box &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const

Definition at line 2304 of file narrowphase.cpp.

template<>
bool fcl::GJKSolver_libccd::shapeIntersect ( const Sphere &  s1,
const Transform3f &  tf1,
const Halfspace &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const

Definition at line 2312 of file narrowphase.cpp.

template<>
bool fcl::GJKSolver_libccd::shapeIntersect ( const Box &  s1,
const Transform3f &  tf1,
const Halfspace &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const

Definition at line 2320 of file narrowphase.cpp.

template<>
bool fcl::GJKSolver_libccd::shapeIntersect ( const Capsule &  s1,
const Transform3f &  tf1,
const Halfspace &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const

Definition at line 2328 of file narrowphase.cpp.

template<>
bool fcl::GJKSolver_libccd::shapeIntersect ( const Cylinder &  s1,
const Transform3f &  tf1,
const Halfspace &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const

Definition at line 2336 of file narrowphase.cpp.

template<>
bool fcl::GJKSolver_libccd::shapeIntersect ( const Cone &  s1,
const Transform3f &  tf1,
const Halfspace &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const

Definition at line 2344 of file narrowphase.cpp.

template<>
bool fcl::GJKSolver_libccd::shapeIntersect ( const Halfspace &  s1,
const Transform3f &  tf1,
const Halfspace &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const

Definition at line 2352 of file narrowphase.cpp.

template<>
bool fcl::GJKSolver_libccd::shapeIntersect ( const Plane &  s1,
const Transform3f &  tf1,
const Halfspace &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const

Definition at line 2364 of file narrowphase.cpp.

template<>
bool fcl::GJKSolver_libccd::shapeIntersect ( const Sphere &  s1,
const Transform3f &  tf1,
const Plane &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const

Definition at line 2376 of file narrowphase.cpp.

template<>
bool fcl::GJKSolver_libccd::shapeIntersect ( const Box &  s1,
const Transform3f &  tf1,
const Plane &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const

Definition at line 2384 of file narrowphase.cpp.

template<>
bool fcl::GJKSolver_libccd::shapeIntersect ( const Capsule &  s1,
const Transform3f &  tf1,
const Plane &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const

Definition at line 2392 of file narrowphase.cpp.

template<>
bool fcl::GJKSolver_libccd::shapeIntersect ( const Cylinder &  s1,
const Transform3f &  tf1,
const Plane &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const

Definition at line 2400 of file narrowphase.cpp.

template<>
bool fcl::GJKSolver_libccd::shapeIntersect ( const Cone &  s1,
const Transform3f &  tf1,
const Plane &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const

Definition at line 2408 of file narrowphase.cpp.

template<>
bool fcl::GJKSolver_libccd::shapeIntersect ( const Halfspace &  s1,
const Transform3f &  tf1,
const Plane &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const

Definition at line 2416 of file narrowphase.cpp.

template<>
bool fcl::GJKSolver_libccd::shapeIntersect ( const Plane &  s1,
const Transform3f &  tf1,
const Plane &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const

Definition at line 2428 of file narrowphase.cpp.

template<typename S >
bool fcl::GJKSolver_libccd::shapeTriangleDistance ( const S &  s,
const Transform3f &  tf,
const Vec3f &  P1,
const Vec3f &  P2,
const Vec3f &  P3,
FCL_REAL *  dist 
) const [inline]

distance computation between one shape and a triangle

Definition at line 134 of file narrowphase.h.

template<typename S >
bool fcl::GJKSolver_libccd::shapeTriangleDistance ( const S &  s,
const Transform3f &  tf1,
const Vec3f &  P1,
const Vec3f &  P2,
const Vec3f &  P3,
const Transform3f &  tf2,
FCL_REAL *  dist 
) const [inline]

distance computation between one shape and a triangle with transformation

Definition at line 154 of file narrowphase.h.

template<>
bool fcl::GJKSolver_libccd::shapeTriangleDistance ( const Sphere &  s,
const Transform3f &  tf,
const Vec3f &  P1,
const Vec3f &  P2,
const Vec3f &  P3,
FCL_REAL *  dist 
) const

Fast implementation for sphere-triangle distance.

template<>
bool fcl::GJKSolver_libccd::shapeTriangleDistance ( const Sphere &  s,
const Transform3f &  tf1,
const Vec3f &  P1,
const Vec3f &  P2,
const Vec3f &  P3,
const Transform3f &  tf2,
FCL_REAL *  dist 
) const

Fast implementation for sphere-triangle distance.

template<>
bool fcl::GJKSolver_libccd::shapeTriangleDistance ( const Sphere &  s,
const Transform3f &  tf,
const Vec3f &  P1,
const Vec3f &  P2,
const Vec3f &  P3,
FCL_REAL *  dist 
) const

Definition at line 2477 of file narrowphase.cpp.

template<>
bool fcl::GJKSolver_libccd::shapeTriangleDistance ( const Sphere &  s,
const Transform3f &  tf1,
const Vec3f &  P1,
const Vec3f &  P2,
const Vec3f &  P3,
const Transform3f &  tf2,
FCL_REAL *  dist 
) const

Definition at line 2485 of file narrowphase.cpp.

template<typename S >
bool fcl::GJKSolver_libccd::shapeTriangleIntersect ( const S &  s,
const Transform3f &  tf,
const Vec3f &  P1,
const Vec3f &  P2,
const Vec3f &  P3,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const [inline]

intersection checking between one shape and a triangle

Definition at line 73 of file narrowphase.h.

template<typename S >
bool fcl::GJKSolver_libccd::shapeTriangleIntersect ( const S &  s,
const Transform3f &  tf1,
const Vec3f &  P1,
const Vec3f &  P2,
const Vec3f &  P3,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const [inline]

Definition at line 92 of file narrowphase.h.

bool fcl::GJKSolver_libccd::shapeTriangleIntersect ( const Sphere &  s,
const Transform3f &  tf,
const Vec3f &  P1,
const Vec3f &  P2,
const Vec3f &  P3,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const

Fast implementation for sphere-triangle collision.

Definition at line 2437 of file narrowphase.cpp.

bool fcl::GJKSolver_libccd::shapeTriangleIntersect ( const Sphere &  s,
const Transform3f &  tf1,
const Vec3f &  P1,
const Vec3f &  P2,
const Vec3f &  P3,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const

Fast implementation for sphere-triangle collision.

Definition at line 2444 of file narrowphase.cpp.

bool fcl::GJKSolver_libccd::shapeTriangleIntersect ( const Halfspace &  s,
const Transform3f &  tf1,
const Vec3f &  P1,
const Vec3f &  P2,
const Vec3f &  P3,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const

Definition at line 2452 of file narrowphase.cpp.

bool fcl::GJKSolver_libccd::shapeTriangleIntersect ( const Plane &  s,
const Transform3f &  tf1,
const Vec3f &  P1,
const Vec3f &  P2,
const Vec3f &  P3,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const

Definition at line 2459 of file narrowphase.cpp.

Member Data Documentation

FCL_REAL fcl::GJKSolver_libccd::collision_tolerance

the threshold used in GJK algorithm to stop collision iteration

Definition at line 189 of file narrowphase.h.

FCL_REAL fcl::GJKSolver_libccd::distance_tolerance

the threshold used in GJK algorithm to stop distance iteration

Definition at line 192 of file narrowphase.h.

unsigned int fcl::GJKSolver_libccd::max_collision_iterations

maximum number of iterations used in GJK algorithm for collision

Definition at line 183 of file narrowphase.h.

unsigned int fcl::GJKSolver_libccd::max_distance_iterations

maximum number of iterations used in GJK algorithm for distance

Definition at line 186 of file narrowphase.h.

The documentation for this struct was generated from the following files:
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fcl
Author(s): Jia Pan
autogenerated on Tue Jan 15 2013 16:05:31