class for GJK algorithm More...

#include <gjk.h>

Classes
struct	Simplex

struct	SimplexV

Public Types
enum	Status { Valid, Inside, Failed }

Public Member Functions
void	appendVertex (Simplex &simplex, const Vector3< S > &v)
	append one vertex to the simplex More...

bool	encloseOrigin ()
	whether the simplex enclose the origin More...

Status	evaluate (const MinkowskiDiff< S > &shape_, const Vector3< S > &guess)
	GJK algorithm, given the initial value guess. More...

Vector3< S >	getGuessFromSimplex () const
	get the guess from current simplex More...

Simplex *	getSimplex () const
	get the underlying simplex using in GJK, can be used for cache in next iteration More...

void	getSupport (const Vector3< S > &d, const Vector3< S > &v, SimplexV &sv) const
	apply the support function along a direction, the result is return is sv, here shape0 is translating at velocity v More...

void	getSupport (const Vector3< S > &d, SimplexV &sv) const
	apply the support function along a direction, the result is return in sv More...

	GJK (unsigned int max_iterations_, S tolerance_)

void	initialize ()

void	removeVertex (Simplex &simplex)
	discard one vertex from the simplex More...

Public Attributes
S	distance

Vector3< S >	ray

MinkowskiDiff< S >	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]

S	tolerance

Detailed Description

template<typename S>
struct fcl::detail::GJK< S >

class for GJK algorithm

Definition at line 52 of file gjk.h.

Member Enumeration Documentation

◆ Status

template<typename S >

enum fcl::detail::GJK::Status

Enumerator
Valid
Inside
Failed

Definition at line 74 of file gjk.h.

Constructor & Destructor Documentation

◆ GJK()

template<typename S >

fcl::detail::GJK< S >::GJK	(	unsigned int	max_iterations_,
		S	tolerance_
	)

Definition at line 55 of file gjk-inl.h.

Member Function Documentation

◆ appendVertex()

template<typename S >

void fcl::detail::GJK< S >::appendVertex	(	Simplex &	simplex,
		const Vector3< S > &	v
	)

append one vertex to the simplex

Definition at line 227 of file gjk-inl.h.

◆ encloseOrigin()

template<typename S >

bool fcl::detail::GJK< S >::encloseOrigin

whether the simplex enclose the origin

Definition at line 236 of file gjk-inl.h.

◆ evaluate()

template<typename S >

GJK< S >::Status fcl::detail::GJK< S >::evaluate	(	const MinkowskiDiff< S > &	shape_,
		const Vector3< S > &	guess
	)

GJK algorithm, given the initial value guess.

Definition at line 82 of file gjk-inl.h.

◆ getGuessFromSimplex()

template<typename S >

Vector3< S > fcl::detail::GJK< S >::getGuessFromSimplex

get the guess from current simplex

Definition at line 75 of file gjk-inl.h.

◆ getSimplex()

template<typename S >

GJK< S >::Simplex * fcl::detail::GJK< S >::getSimplex

get the underlying simplex using in GJK, can be used for cache in next iteration

Definition at line 302 of file gjk-inl.h.

◆ getSupport() [1/2]

template<typename S >

void fcl::detail::GJK< S >::getSupport	(	const Vector3< S > &	d,
		const Vector3< S > &	v,
		SimplexV &	sv
	)		const

apply the support function along a direction, the result is return is sv, here shape0 is translating at velocity v

Definition at line 212 of file gjk-inl.h.

◆ getSupport() [2/2]

template<typename S >

void fcl::detail::GJK< S >::getSupport	(	const Vector3< S > &	d,
		SimplexV &	sv
	)		const

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

Definition at line 204 of file gjk-inl.h.

◆ initialize()

template<typename S >

void fcl::detail::GJK< S >::initialize

Definition at line 63 of file gjk-inl.h.

◆ removeVertex()

template<typename S >

void fcl::detail::GJK< S >::removeVertex ( Simplex & simplex )

discard one vertex from the simplex

Definition at line 220 of file gjk-inl.h.

Member Data Documentation

◆ current

template<typename S >

size_t fcl::detail::GJK< S >::current

private

Definition at line 113 of file gjk.h.

◆ distance

template<typename S >

S fcl::detail::GJK< S >::distance

Definition at line 78 of file gjk.h.

◆ free_v

template<typename S >

SimplexV* fcl::detail::GJK< S >::free_v[4]

private

Definition at line 111 of file gjk.h.

◆ max_iterations

template<typename S >

unsigned int fcl::detail::GJK< S >::max_iterations

private

Definition at line 117 of file gjk.h.

◆ nfree

template<typename S >

size_t fcl::detail::GJK< S >::nfree

private

Definition at line 112 of file gjk.h.

◆ ray

template<typename S >

Vector3<S> fcl::detail::GJK< S >::ray

Definition at line 77 of file gjk.h.

◆ shape

template<typename S >

MinkowskiDiff<S> fcl::detail::GJK< S >::shape

Definition at line 76 of file gjk.h.

◆ simplex

template<typename S >

Simplex* fcl::detail::GJK< S >::simplex

private

Definition at line 114 of file gjk.h.

◆ simplices

template<typename S >

Simplex fcl::detail::GJK< S >::simplices[2]

Definition at line 79 of file gjk.h.

◆ status

template<typename S >

Status fcl::detail::GJK< S >::status

private

Definition at line 115 of file gjk.h.

◆ store_v

template<typename S >

SimplexV fcl::detail::GJK< S >::store_v[4]

private

Definition at line 110 of file gjk.h.

◆ tolerance

template<typename S >

S fcl::detail::GJK< S >::tolerance

private

Definition at line 118 of file gjk.h.

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

Classes

Public Types

Public Member Functions

Public Attributes

Private Attributes

Detailed Description

template<typename S> struct fcl::detail::GJK< S >

Member Enumeration Documentation

◆ Status

Constructor & Destructor Documentation

◆ GJK()

Member Function Documentation

◆ appendVertex()

◆ encloseOrigin()

◆ evaluate()

◆ getGuessFromSimplex()

◆ getSimplex()

◆ getSupport() [1/2]

◆ getSupport() [2/2]

◆ initialize()

◆ removeVertex()

Member Data Documentation

◆ current

◆ distance

◆ free_v

◆ max_iterations

◆ nfree

◆ ray

◆ shape

◆ simplex

◆ simplices

◆ status

◆ store_v

◆ tolerance

template<typename S>
struct fcl::detail::GJK< S >