#include "coal/BVH/BVH_utility.h"#include "coal/narrowphase/narrowphase.h"#include "coal/shape/geometric_shapes_utility.h"#include "coal/internal/shape_shape_func.h"
Include dependency graph for BVH_utility.cpp:
Go to the source code of this file.
Namespaces | |
| coal | |
| Main namespace. | |
| coal::details | |
Functions | |
| template<> | |
| COAL_DLLAPI BVHModel< AABB > * | coal::BVHExtract (const BVHModel< AABB > &model, const Transform3s &pose, const AABB &aabb) |
| template<typename BV > | |
| BVHModel< BV > * | coal::details::BVHExtract (const BVHModel< BV > &model, const Transform3s &pose, const AABB &_aabb) |
| Extract the part of the BVHModel that is inside an AABB. A triangle in collision with the AABB is considered inside. More... | |
| template<> | |
| COAL_DLLAPI BVHModel< KDOP< 16 > > * | coal::BVHExtract (const BVHModel< KDOP< 16 > > &model, const Transform3s &pose, const AABB &aabb) |
| template<> | |
| COAL_DLLAPI BVHModel< KDOP< 18 > > * | coal::BVHExtract (const BVHModel< KDOP< 18 > > &model, const Transform3s &pose, const AABB &aabb) |
| template<> | |
| COAL_DLLAPI BVHModel< KDOP< 24 > > * | coal::BVHExtract (const BVHModel< KDOP< 24 > > &model, const Transform3s &pose, const AABB &aabb) |
| template<> | |
| COAL_DLLAPI BVHModel< kIOS > * | coal::BVHExtract (const BVHModel< kIOS > &model, const Transform3s &pose, const AABB &aabb) |
| template<> | |
| COAL_DLLAPI BVHModel< OBB > * | coal::BVHExtract (const BVHModel< OBB > &model, const Transform3s &pose, const AABB &aabb) |
| template<> | |
| COAL_DLLAPI BVHModel< OBBRSS > * | coal::BVHExtract (const BVHModel< OBBRSS > &model, const Transform3s &pose, const AABB &aabb) |
| template<> | |
| COAL_DLLAPI BVHModel< RSS > * | coal::BVHExtract (const BVHModel< RSS > &model, const Transform3s &pose, const AABB &aabb) |
| COAL_DLLAPI void | coal::circumCircleComputation (const Vec3s &a, const Vec3s &b, const Vec3s &c, Vec3s ¢er, CoalScalar &radius) |
| Compute the center and radius for a triangle's circumcircle. More... | |
| COAL_DLLAPI void | coal::getCovariance (Vec3s *ps, Vec3s *ps2, Triangle *ts, unsigned int *indices, unsigned int n, Matrix3s &M) |
| Compute the covariance matrix for a set or subset of points. if ts = null, then indices refer to points directly; otherwise refer to triangles. More... | |
| COAL_DLLAPI void | coal::getExtentAndCenter (Vec3s *ps, Vec3s *ps2, Triangle *ts, unsigned int *indices, unsigned int n, Matrix3s &axes, Vec3s ¢er, Vec3s &extent) |
| Compute the bounding volume extent and center for a set or subset of points, given the BV axises. More... | |
| static void | coal::getExtentAndCenter_mesh (Vec3s *ps, Vec3s *ps2, Triangle *ts, unsigned int *indices, unsigned int n, Matrix3s &axes, Vec3s ¢er, Vec3s &extent) |
| Compute the bounding volume extent and center for a set or subset of points. The bounding volume axes are known. More... | |
| static void | coal::getExtentAndCenter_pointcloud (Vec3s *ps, Vec3s *ps2, unsigned int *indices, unsigned int n, Matrix3s &axes, Vec3s ¢er, Vec3s &extent) |
| Compute the bounding volume extent and center for a set or subset of points. The bounding volume axes are known. More... | |
| COAL_DLLAPI void | coal::getRadiusAndOriginAndRectangleSize (Vec3s *ps, Vec3s *ps2, Triangle *ts, unsigned int *indices, unsigned int n, const Matrix3s &axes, Vec3s &origin, CoalScalar l[2], CoalScalar &r) |
| Compute the RSS bounding volume parameters: radius, rectangle size and the origin, given the BV axises. More... | |
| COAL_DLLAPI CoalScalar | coal::maximumDistance (Vec3s *ps, Vec3s *ps2, Triangle *ts, unsigned int *indices, unsigned int n, const Vec3s &query) |
| Compute the maximum distance from a given center point to a point cloud. More... | |
| static CoalScalar | coal::maximumDistance_mesh (Vec3s *ps, Vec3s *ps2, Triangle *ts, unsigned int *indices, unsigned int n, const Vec3s &query) |
| static CoalScalar | coal::maximumDistance_pointcloud (Vec3s *ps, Vec3s *ps2, unsigned int *indices, unsigned int n, const Vec3s &query) |