#include <iostream>
#include <fstream>
#include <sstream>
#include <chrono>
#include <hpp/fcl/narrowphase/narrowphase.h>
#include "../src/BV/OBB.h"
#include <hpp/fcl/internal/shape_shape_func.h>
#include "utility.h"

Include dependency graph for obb.cpp:

Classes
struct	BenchmarkResult

struct	obbDisjoint_impls::loop_case_1< ia, ib, ja, ka, jb, kb >

struct	obbDisjoint_impls::loop_case_2< ib, jb, kb >

Namespaces
	obbDisjoint_impls

Macros
#define	MANUAL_PRODUCT 1

#define	NB_METHODS 7

#define	PRODUCT(M33, v3) (M33.col(0) * v3[0] + M33.col(1) * v3[1] + M33.col(2) * v3[2])

Typedefs
typedef std::chrono::high_resolution_clock	clock_type

typedef clock_type::duration	duration_type

Functions
FCL_REAL	obbDisjoint_impls::_computeDistanceForCase1 (const Vec3f &T, const Vec3f &a, const Vec3f &b, const Matrix3f &Bf)

FCL_REAL	obbDisjoint_impls::_computeDistanceForCase2 (const Matrix3f &B, const Vec3f &T, const Vec3f &a, const Vec3f &b, const Matrix3f &Bf)

BenchmarkResult	benchmark_obb_case (const Matrix3f &B, const Vec3f &T, const Vec3f &a, const Vec3f &b, const CollisionRequest &request, std::size_t N)

bool	obbDisjoint_impls::distance (const Matrix3f &B, const Vec3f &T, const Vec3f &a, const Vec3f &b, FCL_REAL &distance)

int	main (int argc, char **argv)

std::size_t	obb_overlap_and_lower_bound_distance (std::ostream *output)

std::ostream &	operator<< (std::ostream &os, const BenchmarkResult &br)

bool	obbDisjoint_impls::originalWithLowerBound (const Matrix3f &B, const Vec3f &T, const Vec3f &a, const Vec3f &b, const FCL_REAL &breakDistance2, FCL_REAL &squaredLowerBoundDistance)

bool	obbDisjoint_impls::originalWithNoLowerBound (const Matrix3f &B, const Vec3f &T, const Vec3f &a, const Vec3f &b, const FCL_REAL &, FCL_REAL &squaredLowerBoundDistance)

const Eigen::IOFormat	py_fmt (Eigen::FullPrecision, 0, ", ", ",\n", "(", ",)", "( ", ", )")

void	randomOBBs (Vec3f &a, Vec3f &b, FCL_REAL extentNorm)

void	randomTransform (Matrix3f &B, Vec3f &T, const Vec3f &a, const Vec3f &b, const FCL_REAL extentNorm)

int	obbDisjoint_impls::separatingAxisId (const Matrix3f &B, const Vec3f &T, const Vec3f &a, const Vec3f &b, const FCL_REAL &breakDistance2, FCL_REAL &squaredLowerBoundDistance)

bool	obbDisjoint_impls::withManualLoopUnrolling_1 (const Matrix3f &B, const Vec3f &T, const Vec3f &a, const Vec3f &b, const FCL_REAL &breakDistance2, FCL_REAL &squaredLowerBoundDistance)

bool	obbDisjoint_impls::withManualLoopUnrolling_2 (const Matrix3f &B, const Vec3f &T, const Vec3f &a, const Vec3f &b, const FCL_REAL &breakDistance2, FCL_REAL &squaredLowerBoundDistance)

bool	obbDisjoint_impls::withPartialTemplateLoopUnrolling_1 (const Matrix3f &B, const Vec3f &T, const Vec3f &a, const Vec3f &b, const FCL_REAL &breakDistance2, FCL_REAL &squaredLowerBoundDistance)

bool	obbDisjoint_impls::withRuntimeLoop (const Matrix3f &B, const Vec3f &T, const Vec3f &a, const Vec3f &b, const FCL_REAL &breakDistance2, FCL_REAL &squaredLowerBoundDistance)

bool	obbDisjoint_impls::withTemplateLoopUnrolling_1 (const Matrix3f &B, const Vec3f &T, const Vec3f &a, const Vec3f &b, const FCL_REAL &breakDistance2, FCL_REAL &squaredLowerBoundDistance)

Variables
const FCL_REAL	eps = 1.5e-7

const char *	sep = ",\t"

Macro Definition Documentation

◆ MANUAL_PRODUCT

#define MANUAL_PRODUCT 1

Definition at line 80 of file obb.cpp.

◆ NB_METHODS

#define NB_METHODS 7

Definition at line 79 of file obb.cpp.

◆ PRODUCT

#define PRODUCT	(	M33,
		v3
	)	(M33.col(0) * v3[0] + M33.col(1) * v3[1] + M33.col(2) * v3[2])

Definition at line 83 of file obb.cpp.

Typedef Documentation

◆ clock_type

typedef std::chrono::high_resolution_clock clock_type

Definition at line 89 of file obb.cpp.

◆ duration_type

typedef clock_type::duration duration_type

Definition at line 90 of file obb.cpp.

Function Documentation

◆ benchmark_obb_case()

BenchmarkResult benchmark_obb_case	(	const Matrix3f &	B,
		const Vec3f &	T,
		const Vec3f &	a,
		const Vec3f &	b,
		const CollisionRequest &	request,
		std::size_t	N
	)

Definition at line 1171 of file obb.cpp.

◆ main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 1312 of file obb.cpp.

◆ obb_overlap_and_lower_bound_distance()

std::size_t obb_overlap_and_lower_bound_distance ( std::ostream * output )

Definition at line 1277 of file obb.cpp.

◆ operator<<()

std::ostream& operator<<	(	std::ostream &	os,
		const BenchmarkResult &	br
	)

Definition at line 1167 of file obb.cpp.

◆ py_fmt()

const Eigen::IOFormat py_fmt	(	Eigen::FullPrecision	,
		0	,
		"	,
		"	,
		"	,
		\n"	,
		"(", ",)"	,
		"( ", ", )"
	)

◆ randomOBBs()

void randomOBBs	(	Vec3f &	a,
		Vec3f &	b,
		FCL_REAL	extentNorm
	)

Definition at line 51 of file obb.cpp.

◆ randomTransform()

void randomTransform	(	Matrix3f &	B,
		Vec3f &	T,
		const Vec3f &	a,
		const Vec3f &	b,
		const FCL_REAL	extentNorm
	)

Definition at line 60 of file obb.cpp.

Variable Documentation

◆ eps

const FCL_REAL eps = 1.5e-7

Definition at line 93 of file obb.cpp.

◆ sep

const char* sep = ",\t"

Definition at line 92 of file obb.cpp.

Classes

Namespaces

Macros

Typedefs

Functions

Variables