coal/collision_data.h File Reference

#include <vector>
#include <array>
#include <set>
#include <limits>
#include <numeric>
#include "coal/collision_object.h"
#include "coal/config.hh"
#include "coal/data_types.h"
#include "coal/timings.h"
#include "coal/narrowphase/narrowphase_defaults.h"
#include "coal/logging.h"

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Classes
struct	coal::CollisionRequest
	request to the collision algorithm More...
struct	coal::CollisionResult
	collision result More...
struct	coal::Contact
	Contact information returned by collision. More...
struct	coal::ContactPatch
	This structure allows to encode contact patches. A contact patch is defined by a set of points belonging to a subset of a plane passing by p and supported by n, where n = Contact::normal and p = Contact::pos. If we denote by P this plane and by S1 and S2 the first and second shape of a collision pair, a contact patch is represented as a polytope which vertices all belong to P & S1 & S2, where & denotes the set-intersection. Since a contact patch is a subset of a plane supported by n, it has a preferred direction. In Coal, the Contact::normal points from S1 to S2. In the same way, a contact patch points by default from S1 to S2. More...
struct	coal::ContactPatchRequest
	Request for a contact patch computation. More...
struct	coal::ContactPatchResult
	Result for a contact patch computation. More...
struct	coal::DistanceRequest
	request to the distance computation More...
struct	coal::DistanceResult
	distance result More...
struct	coal::QueryRequest
	base class for all query requests More...
struct	coal::QueryResult
	base class for all query results More...

Namespaces
	coal
	Main namespace.
	coal::internal

Typedefs
using	coal::SupportSet = ContactPatch
	Structure used for internal computations. A support set and a contact patch can be represented by the same structure. In fact, a contact patch is the intersection of two support sets, one with PatchDirection::DEFAULT and one with PatchDirection::INVERTED. More...

Enumerations
enum	coal::CollisionRequestFlag { coal::CONTACT = 0x00001, coal::DISTANCE_LOWER_BOUND = 0x00002, coal::NO_REQUEST = 0x01000 }
	flag declaration for specifying required params in CollisionResult More...

Functions
void	coal::constructContactPatchFrameFromContact (const Contact &contact, ContactPatch &contact_patch)
	Construct a frame from a Contact's position and normal. Because both Contact's position and normal are expressed in the world frame, this frame is also expressed w.r.t the world frame. The origin of the frame is contact.pos and the z-axis of the frame is contact.normal. More...
CollisionRequestFlag	coal::operator& (CollisionRequestFlag a, CollisionRequestFlag b)
CollisionRequestFlag &	coal::operator&= (CollisionRequestFlag &a, CollisionRequestFlag b)
CollisionRequestFlag	coal::operator^ (CollisionRequestFlag a, CollisionRequestFlag b)
CollisionRequestFlag &	coal::operator^= (CollisionRequestFlag &a, CollisionRequestFlag b)
CollisionRequestFlag	coal::operator| (CollisionRequestFlag a, CollisionRequestFlag b)
CollisionRequestFlag &	coal::operator|= (CollisionRequestFlag &a, CollisionRequestFlag b)
CollisionRequestFlag	coal::operator~ (CollisionRequestFlag a)
void	coal::internal::updateDistanceLowerBoundFromBV (const CollisionRequest &, CollisionResult &res, const CoalScalar sqrDistLowerBound)
void	coal::internal::updateDistanceLowerBoundFromLeaf (const CollisionRequest &, CollisionResult &res, const CoalScalar &distance, const Vec3s &p0, const Vec3s &p1, const Vec3s &normal)