class for EPA algorithm More...

#include <gjk.h>

Classes
struct	SimplexFace

struct	SimplexFaceList
	The simplex list of EPA is a linked list of faces. Note: EPA's linked list does not own any memory. The memory it refers to is contiguous and owned by a std::vector. More...

struct	SimplexHorizon

Public Types
typedef GJK::SimplexV	SimplexVertex

enum	Status { DidNotRun = -1, Failed = 0, Valid = 1, AccuracyReached = 1 << 1 \| Valid, Degenerated = 1 << 1 \| Failed, NonConvex = 2 << 1 \| Failed, InvalidHull = 3 << 1 \| Failed, OutOfFaces = 4 << 1 \| Failed, OutOfVertices = 5 << 1 \| Failed, FallBack = 6 << 1 \| Failed }

Public Member Functions
	EPA (const EPA &other)
	Copy constructor of EPA. Mostly needed for the copy constructor of `GJKSolver`. More...

	EPA (size_t max_iterations_, CoalScalar tolerance_)

Status	evaluate (GJK &gjk, const Vec3s &guess)

size_t	getNumFaces () const
	Get the number of faces in the polytope of the last run of EPA. More...

size_t	getNumIterations () const
	Get the number of iterations of the last run of EPA. More...

size_t	getNumMaxFaces () const
	Get the max number of faces of EPA. More...

size_t	getNumMaxIterations () const
	Get the max number of iterations of EPA. More...

size_t	getNumMaxVertices () const
	Get the max number of vertices of EPA. More...

size_t	getNumVertices () const
	Get the number of vertices in the polytope of the last run of EPA. More...

CoalScalar	getTolerance () const
	Get the tolerance of EPA. More...

void	getWitnessPointsAndNormal (const MinkowskiDiff &shape, Vec3s &w0, Vec3s &w1, Vec3s &normal) const

void	reset (size_t max_iterations, CoalScalar tolerance)
	resets the EPA algorithm, preparing it for a new run. It potentially reallocates memory for the vertices and faces if the passed parameters are bigger than the previous ones. This function does not modify the parameters of the EPA algorithm, i.e. the maximum number of iterations and the tolerance. More...

Static Public Member Functions
static void	bind (SimplexFace fa, size_t ea, SimplexFace fb, size_t eb)
	We bind the face `fa` along its edge `ea` to the face `fb` along its edge `fb`. More...

Public Attributes
SimplexFace *	closest_face

CoalScalar	depth

Vec3s	normal

GJK::Simplex	result

Status	status

support_func_guess_t	support_hint

Private Member Functions
bool	expand (size_t pass, const SimplexVertex &w, SimplexFace *f, size_t e, SimplexHorizon &horizon)
	the goal is to add a face connecting vertex w and face edge f[e] More...

SimplexFace *	findClosestFace ()
	Find the best polytope face to split. More...

bool	getEdgeDist (SimplexFace *face, const SimplexVertex &a, const SimplexVertex &b, CoalScalar &dist)

void	initialize ()
	Allocates memory for the EPA algorithm. This function should only be called by the constructor. Otherwise use reset. More...

SimplexFace *	newFace (size_t id_a, size_t id_b, size_t id_vertex, bool force=false)
	Add a new face to the polytope. This function sets the `ignore` flag to `true` if the origin does not project inside the face. More...

Private Attributes
std::vector< SimplexFace >	fc_store

SimplexFaceList	hull

size_t	iterations

size_t	max_iterations

size_t	num_vertices

SimplexFaceList	stock

std::vector< SimplexVertex >	sv_store

CoalScalar	tolerance

Detailed Description

class for EPA algorithm

Definition at line 258 of file coal/narrowphase/gjk.h.

Member Typedef Documentation

◆ SimplexVertex

typedef GJK::SimplexV coal::details::EPA::SimplexVertex

Definition at line 259 of file coal/narrowphase/gjk.h.

Member Enumeration Documentation

◆ Status

enum coal::details::EPA::Status

Enumerator
DidNotRun
Failed
Valid
AccuracyReached
Degenerated
NonConvex
InvalidHull
OutOfFaces
OutOfVertices
FallBack

Definition at line 329 of file coal/narrowphase/gjk.h.

Constructor & Destructor Documentation

◆ EPA() [1/2]

coal::details::EPA::EPA	(	size_t	max_iterations_,
		CoalScalar	tolerance_
	)

inline

Definition at line 363 of file coal/narrowphase/gjk.h.

◆ EPA() [2/2]

coal::details::EPA::EPA ( const EPA & other )

inline

Copy constructor of EPA. Mostly needed for the copy constructor of GJKSolver.

Definition at line 370 of file coal/narrowphase/gjk.h.

Member Function Documentation

◆ bind()

static void coal::details::EPA::bind	(	SimplexFace *	fa,
		size_t	ea,
		SimplexFace *	fb,
		size_t	eb
	)

inlinestatic

We bind the face fa along its edge ea to the face fb along its edge fb.

Definition at line 311 of file coal/narrowphase/gjk.h.

◆ evaluate()

EPA::Status coal::details::EPA::evaluate	(	GJK &	gjk,
		const Vec3s &	guess
	)

Returns: a Status which can be demangled using (status & Valid) or (status & Failed). The other values provide a more detailled status

Definition at line 1157 of file src/narrowphase/gjk.cpp.

◆ expand()

bool coal::details::EPA::expand	(	size_t	pass,
		const SimplexVertex &	w,
		SimplexFace *	f,
		size_t	e,
		SimplexHorizon &	horizon
	)

private

the goal is to add a face connecting vertex w and face edge f[e]

Definition at line 1362 of file src/narrowphase/gjk.cpp.

◆ findClosestFace()

EPA::SimplexFace * coal::details::EPA::findClosestFace ( )

private

Find the best polytope face to split.

Definition at line 1142 of file src/narrowphase/gjk.cpp.

◆ getEdgeDist()

bool coal::details::EPA::getEdgeDist	(	SimplexFace *	face,
		const SimplexVertex &	a,
		const SimplexVertex &	b,
		CoalScalar &	dist
	)

private

Definition at line 1040 of file src/narrowphase/gjk.cpp.

◆ getNumFaces()

size_t coal::details::EPA::getNumFaces ( ) const

inline

Get the number of faces in the polytope of the last run of EPA.

Definition at line 397 of file coal/narrowphase/gjk.h.

◆ getNumIterations()

size_t coal::details::EPA::getNumIterations ( ) const

inline

Get the number of iterations of the last run of EPA.

Definition at line 391 of file coal/narrowphase/gjk.h.

◆ getNumMaxFaces()

size_t coal::details::EPA::getNumMaxFaces ( ) const

inline

Get the max number of faces of EPA.

Definition at line 385 of file coal/narrowphase/gjk.h.

◆ getNumMaxIterations()

size_t coal::details::EPA::getNumMaxIterations ( ) const

inline

Get the max number of iterations of EPA.

Definition at line 379 of file coal/narrowphase/gjk.h.

◆ getNumMaxVertices()

size_t coal::details::EPA::getNumMaxVertices ( ) const

inline

Get the max number of vertices of EPA.

Definition at line 382 of file coal/narrowphase/gjk.h.

◆ getNumVertices()

size_t coal::details::EPA::getNumVertices ( ) const

inline

Get the number of vertices in the polytope of the last run of EPA.

Definition at line 394 of file coal/narrowphase/gjk.h.

◆ getTolerance()

CoalScalar coal::details::EPA::getTolerance ( ) const

inline

Get the tolerance of EPA.

Definition at line 388 of file coal/narrowphase/gjk.h.

◆ getWitnessPointsAndNormal()

void coal::details::EPA::getWitnessPointsAndNormal	(	const MinkowskiDiff &	shape,
		Vec3s &	w0,
		Vec3s &	w1,
		Vec3s &	normal
	)		const

Get the witness points on each object, and the corresponding normal.

Parameters

[in]	shape	is the Minkowski difference of the two shapes.
[out]	w0	is the witness point on shape0.
[out]	w1	is the witness point on shape1.
[in]	normal	is the normal found by EPA. It points from shape0 to shape1. The normal is used to correct the witness points on the shapes if the shapes have a non-zero swept-sphere radius.

Definition at line 1452 of file src/narrowphase/gjk.cpp.

◆ initialize()

void coal::details::EPA::initialize ( )

private

Allocates memory for the EPA algorithm. This function should only be called by the constructor. Otherwise use reset.

Definition at line 1013 of file src/narrowphase/gjk.cpp.

◆ newFace()

EPA::SimplexFace * coal::details::EPA::newFace	(	size_t	id_a,
		size_t	id_b,
		size_t	id_vertex,
		bool	force = `false`
	)

private

Add a new face to the polytope. This function sets the ignore flag to true if the origin does not project inside the face.

Definition at line 1069 of file src/narrowphase/gjk.cpp.

◆ reset()

void coal::details::EPA::reset	(	size_t	max_iterations,
		CoalScalar	tolerance
	)

resets the EPA algorithm, preparing it for a new run. It potentially reallocates memory for the vertices and faces if the passed parameters are bigger than the previous ones. This function does not modify the parameters of the EPA algorithm, i.e. the maximum number of iterations and the tolerance.

Note: calling this function destroys the previous state of EPA. In the future, we may want to copy it instead, i.e. when EPA will be (properly) warm-startable.

Definition at line 1015 of file src/narrowphase/gjk.cpp.

Member Data Documentation

◆ closest_face

SimplexFace* coal::details::EPA::closest_face

Definition at line 348 of file coal/narrowphase/gjk.h.

◆ depth

CoalScalar coal::details::EPA::depth

Definition at line 347 of file coal/narrowphase/gjk.h.

◆ fc_store

std::vector<SimplexFace> coal::details::EPA::fc_store

private

Definition at line 357 of file coal/narrowphase/gjk.h.

◆ hull

SimplexFaceList coal::details::EPA::hull

private

Definition at line 358 of file coal/narrowphase/gjk.h.

◆ iterations

size_t coal::details::EPA::iterations

private

Definition at line 360 of file coal/narrowphase/gjk.h.

◆ max_iterations

size_t coal::details::EPA::max_iterations

private

Definition at line 353 of file coal/narrowphase/gjk.h.

◆ normal

Vec3s coal::details::EPA::normal

Definition at line 345 of file coal/narrowphase/gjk.h.

◆ num_vertices

size_t coal::details::EPA::num_vertices

private

Definition at line 359 of file coal/narrowphase/gjk.h.

◆ result

GJK::Simplex coal::details::EPA::result

Definition at line 344 of file coal/narrowphase/gjk.h.

◆ status

Status coal::details::EPA::status

Definition at line 343 of file coal/narrowphase/gjk.h.

◆ stock

SimplexFaceList coal::details::EPA::stock

private

Definition at line 358 of file coal/narrowphase/gjk.h.

◆ support_hint

support_func_guess_t coal::details::EPA::support_hint

Definition at line 346 of file coal/narrowphase/gjk.h.

◆ sv_store

std::vector<SimplexVertex> coal::details::EPA::sv_store

private

Definition at line 356 of file coal/narrowphase/gjk.h.

◆ tolerance

CoalScalar coal::details::EPA::tolerance

private

Definition at line 354 of file coal/narrowphase/gjk.h.

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

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ SimplexVertex

Member Enumeration Documentation

◆ Status

Constructor & Destructor Documentation

◆ EPA() [1/2]

◆ EPA() [2/2]

Member Function Documentation

◆ bind()

◆ evaluate()

◆ expand()

◆ findClosestFace()

◆ getEdgeDist()

◆ getNumFaces()

◆ getNumIterations()

◆ getNumMaxFaces()

◆ getNumMaxIterations()

◆ getNumMaxVertices()

◆ getNumVertices()

◆ getTolerance()

◆ getWitnessPointsAndNormal()

◆ initialize()

◆ newFace()

◆ reset()

Member Data Documentation

◆ closest_face

◆ depth

◆ fc_store

◆ hull

◆ iterations

◆ max_iterations

◆ normal

◆ num_vertices

◆ result

◆ status

◆ stock

◆ support_hint

◆ sv_store

◆ tolerance