fcl::details::GJK Struct Reference

class for GJK algorithm More...

#include <gjk.h>

List of all members.

Classes
struct	Simplex
struct	SimplexV
Public Types
enum	Status { Valid, Inside, Failed }
Public Member Functions
void	appendVertex (Simplex &simplex, const Vec3f &v)
	append one vertex to the simplex
bool	encloseOrigin ()
	whether the simplex enclose the origin
Status	evaluate (const MinkowskiDiff &shape_, const Vec3f &guess)
	GJK algorithm, given the initial value guess.
Simplex *	getSimplex () const
	get the underlying simplex using in GJK
void	getSupport (const Vec3f &d, SimplexV &sv) const
	apply the support function along a direction, the result is return in sv
	GJK (unsigned int max_iterations_, FCL_REAL tolerance_)
void	initialize ()
void	removeVertex (Simplex &simplex)
	discard one vertex from the simplex
Public Attributes
FCL_REAL	distance
Vec3f	ray
MinkowskiDiff	shape
Simplex	simplices [2]
Private Attributes
size_t	current
SimplexV *	free_v [4]
unsigned int	max_iterations
size_t	nfree
Simplex *	simplex
Status	status
SimplexV	store_v [4]
FCL_REAL	tolerance

---

Detailed Description

class for GJK algorithm

Definition at line 110 of file gjk.h.

---

Member Enumeration Documentation

enum fcl::details::GJK::Status

Enumerator:

Valid
Inside
Failed

Definition at line 130 of file gjk.h.

---

Constructor & Destructor Documentation

fcl::details::GJK::GJK	(	unsigned int	max_iterations_,
		FCL_REAL	tolerance_
	)		[inline]

Definition at line 138 of file gjk.h.

---

Member Function Documentation

void fcl::details::GJK::appendVertex	(	Simplex &	simplex,
		const Vec3f &	v
	)

append one vertex to the simplex

Definition at line 420 of file gjk.cpp.

bool fcl::details::GJK::encloseOrigin

(

)

whether the simplex enclose the origin

Definition at line 427 of file gjk.cpp.

GJK::Status fcl::details::GJK::evaluate	(	const MinkowskiDiff &	shape_,
		const Vec3f &	guess
	)

GJK algorithm, given the initial value guess.

Definition at line 287 of file gjk.cpp.

Simplex* fcl::details::GJK::getSimplex

(

)

const [inline]

get the underlying simplex using in GJK

Definition at line 162 of file gjk.h.

void fcl::details::GJK::getSupport	(	const Vec3f &	d,
		SimplexV &	sv
	)		const

apply the support function along a direction, the result is return in sv

Definition at line 409 of file gjk.cpp.

void fcl::details::GJK::initialize

(

)

Definition at line 278 of file gjk.cpp.

void fcl::details::GJK::removeVertex

(

Simplex &

simplex

)

discard one vertex from the simplex

Definition at line 415 of file gjk.cpp.

---

Member Data Documentation

size_t fcl::details::GJK::current [private]

Definition at line 171 of file gjk.h.

FCL_REAL fcl::details::GJK::distance

Definition at line 134 of file gjk.h.

SimplexV* fcl::details::GJK::free_v[4] [private]

Definition at line 169 of file gjk.h.

unsigned int fcl::details::GJK::max_iterations [private]

Definition at line 175 of file gjk.h.

size_t fcl::details::GJK::nfree [private]

Definition at line 170 of file gjk.h.

Vec3f fcl::details::GJK::ray

Definition at line 133 of file gjk.h.

MinkowskiDiff fcl::details::GJK::shape

Definition at line 132 of file gjk.h.

Simplex* fcl::details::GJK::simplex [private]

Definition at line 172 of file gjk.h.

Simplex fcl::details::GJK::simplices[2]

Definition at line 135 of file gjk.h.

Status fcl::details::GJK::status [private]

Definition at line 173 of file gjk.h.

SimplexV fcl::details::GJK::store_v[4] [private]

Definition at line 168 of file gjk.h.

FCL_REAL fcl::details::GJK::tolerance [private]

Definition at line 176 of file gjk.h.

---

The documentation for this struct was generated from the following files:

• gjk.h
• gjk.cpp