src/narrowphase/gjk.cpp File Reference

#include "coal/shape/geometric_shapes.h"
#include "coal/narrowphase/gjk.h"
#include "coal/internal/intersect.h"
#include "coal/internal/tools.h"
#include "coal/shape/geometric_shapes_traits.h"
#include "coal/narrowphase/narrowphase_defaults.h"

Include dependency graph for src/narrowphase/gjk.cpp:

Go to the source code of this file.

Namespaces
	coal
	Main namespace.
	coal::details
	coal::details::details

Macros
#define	REGION_INSIDE()

Functions
void	coal::details::details::getClosestPoints (const GJK::Simplex &simplex, Vec3s &w0, Vec3s &w1)
template<bool Separated>
void	coal::details::details::inflate (const MinkowskiDiff &shape, const Vec3s &normal, Vec3s &w0, Vec3s &w1)
void	coal::details::originToPoint (const GJK::Simplex &current, GJK::vertex_id_t a, const Vec3s &A, GJK::Simplex &next, Vec3s &ray)
void	coal::details::originToSegment (const GJK::Simplex &current, GJK::vertex_id_t a, GJK::vertex_id_t b, const Vec3s &A, const Vec3s &B, const Vec3s &AB, const CoalScalar &ABdotAO, GJK::Simplex &next, Vec3s &ray)
bool	coal::details::originToTriangle (const GJK::Simplex &current, GJK::vertex_id_t a, GJK::vertex_id_t b, GJK::vertex_id_t c, const Vec3s &ABC, const CoalScalar &ABCdotAO, GJK::Simplex &next, Vec3s &ray)

Macro Definition Documentation

REGION_INSIDE

#define REGION_INSIDE

(

)

Value:

  ray.setZero();                      \
  next.vertex[0] = current.vertex[d]; \
  next.vertex[1] = current.vertex[c]; \
  next.vertex[2] = current.vertex[b]; \
  next.vertex[3] = current.vertex[a]; \
  next.rank = 4;                      \
  return true;