collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the GJK in bullet) More...

#include <narrowphase.h>

Public Types
typedef Eigen::Array< FCL_REAL, 1, 2 >	Array2d

Public Member Functions
HPP_FCL_COMPILER_DIAGNOSTIC_PUSH HPP_FCL_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS	GJKSolver ()
	Default constructor for GJK algorithm. More...

	GJKSolver (const CollisionRequest &request)
	Constructor from a CollisionRequest. More...

	GJKSolver (const DistanceRequest &request)
	Constructor from a DistanceRequest. More...

	GJKSolver (const GJKSolver &other)=default
	Copy constructor. More...

template<typename S1 , typename S2 >
void	initialize_gjk (details::GJK &gjk, const details::MinkowskiDiff &shape, const S1 &s1, const S2 &s2, Vec3f &guess, support_func_guess_t &support_hint) const
	initialize GJK More...

HPP_FCL_COMPILER_DIAGNOSTIC_POP bool	operator!= (const GJKSolver &other) const

HPP_FCL_COMPILER_DIAGNOSTIC_PUSH HPP_FCL_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS bool	operator== (const GJKSolver &other) const

void	set (const CollisionRequest &request)
	setter from a CollisionRequest More...

void	set (const DistanceRequest &request)
	setter from a DistanceRequest More...

template<>
bool	shapeDistance (const Box &s1, const Transform3f &tf1, const Sphere &s2, const Transform3f &tf2, FCL_REAL &dist, Vec3f &p1, Vec3f &p2, Vec3f &normal) const

template<>
bool	shapeDistance (const Capsule &, const Transform3f &, const Capsule &, const Transform3f &, FCL_REAL &, Vec3f &, Vec3f &, Vec3f &) const

template<>
bool	shapeDistance (const Capsule &s1, const Transform3f &tf1, const Sphere &s2, const Transform3f &tf2, FCL_REAL &dist, Vec3f &p1, Vec3f &p2, Vec3f &normal) const

template<>
bool	shapeDistance (const Cylinder &s1, const Transform3f &tf1, const Sphere &s2, const Transform3f &tf2, FCL_REAL &dist, Vec3f &p1, Vec3f &p2, Vec3f &normal) const

template<typename S1 , typename S2 >
bool	shapeDistance (const S1 &s1, const Transform3f &tf1, const S2 &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal) const
	distance computation between two shapes More...

template<>
bool	shapeDistance (const Sphere &s1, const Transform3f &tf1, const Box &s2, const Transform3f &tf2, FCL_REAL &dist, Vec3f &p1, Vec3f &p2, Vec3f &normal) const

template<>
bool	shapeDistance (const Sphere &s1, const Transform3f &tf1, const Capsule &s2, const Transform3f &tf2, FCL_REAL &dist, Vec3f &p1, Vec3f &p2, Vec3f &normal) const

template<>
bool	shapeDistance (const Sphere &s1, const Transform3f &tf1, const Cylinder &s2, const Transform3f &tf2, FCL_REAL &dist, Vec3f &p1, Vec3f &p2, Vec3f &normal) const

template<>
bool	shapeDistance (const Sphere &s1, const Transform3f &tf1, const Sphere &s2, const Transform3f &tf2, FCL_REAL &dist, Vec3f &p1, Vec3f &p2, Vec3f &normal) const

template<>
bool	shapeDistance (const TriangleP &s1, const Transform3f &tf1, const TriangleP &s2, const Transform3f &tf2, FCL_REAL &dist, Vec3f &p1, Vec3f &p2, Vec3f &normal) const

template<>
bool	shapeIntersect (const Box &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, FCL_REAL &distance, bool, Vec3f contact_points, Vec3f normal) const

template<>
bool	shapeIntersect (const Box &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, FCL_REAL &distance, bool, Vec3f contact_points, Vec3f normal) const

template<>
bool	shapeIntersect (const Box &s1, const Transform3f &tf1, const Sphere &s2, const Transform3f &tf2, FCL_REAL &distance, bool, Vec3f contact_points, Vec3f normal) const

template<>
bool	shapeIntersect (const Capsule &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, FCL_REAL &distance, bool, Vec3f contact_points, Vec3f normal) const

template<>
bool	shapeIntersect (const Capsule &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, FCL_REAL &distance, bool, Vec3f contact_points, Vec3f normal) const

template<>
bool	shapeIntersect (const Cone &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, FCL_REAL &distance, bool, Vec3f contact_points, Vec3f normal) const

template<>
bool	shapeIntersect (const Cone &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, FCL_REAL &distance, bool, Vec3f contact_points, Vec3f normal) const

template<>
bool	shapeIntersect (const Cylinder &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, FCL_REAL &distance, bool, Vec3f contact_points, Vec3f normal) const

template<>
bool	shapeIntersect (const Cylinder &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, FCL_REAL &distance, bool, Vec3f contact_points, Vec3f normal) const

template<>
bool	shapeIntersect (const Halfspace &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, FCL_REAL &distance, bool, Vec3f , Vec3f ) const

template<>
bool	shapeIntersect (const Plane &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, FCL_REAL &distance, bool, Vec3f , Vec3f ) const

template<>
bool	shapeIntersect (const Plane &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, FCL_REAL &distance, bool, Vec3f contact_points, Vec3f normal) const

template<typename S1 , typename S2 >
bool	shapeIntersect (const S1 &s1, const Transform3f &tf1, const S2 &s2, const Transform3f &tf2, FCL_REAL &distance_lower_bound, bool enable_penetration, Vec3f contact_points, Vec3f normal) const
	intersection checking between two shapes More...

template<>
bool	shapeIntersect (const Sphere &s1, const Transform3f &tf1, const Capsule &s2, const Transform3f &tf2, FCL_REAL &distance_lower_bound, bool, Vec3f contact_points, Vec3f normal) const

template<>
bool	shapeIntersect (const Sphere &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, FCL_REAL &distance, bool, Vec3f contact_points, Vec3f normal) const

template<>
bool	shapeIntersect (const Sphere &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, FCL_REAL &distance, bool, Vec3f contact_points, Vec3f normal) const

template<>
bool	shapeIntersect (const Sphere &s1, const Transform3f &tf1, const Sphere &s2, const Transform3f &tf2, FCL_REAL &distance_lower_bound, bool, Vec3f contact_points, Vec3f normal) const

template<>
HPP_FCL_DLLAPI bool	shapeTriangleInteraction (const Halfspace &s, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal) const

template<>
HPP_FCL_DLLAPI bool	shapeTriangleInteraction (const Plane &s, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal) const

template<typename S >
bool	shapeTriangleInteraction (const S &s, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal) const
	intersection checking between one shape and a triangle with transformation More...

template<>
HPP_FCL_DLLAPI bool	shapeTriangleInteraction (const Sphere &s, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal) const

Shape intersection specializations
template<>
HPP_FCL_DLLAPI bool	shapeIntersect (const Box &s1, const Transform3f &tf1, const Sphere &s2, const Transform3f &tf2, FCL_REAL &distance_lower_bound, bool enable_penetration, Vec3f contact_points, Vec3f normal) const

Public Attributes
Vec3f	cached_guess
	smart guess More...

FCL_REAL	distance_upper_bound
	Distance above which the GJK solver stoppes its computations and processes to an early stopping. The two witness points are incorrect, but with the guaranty that the two shapes have a distance greather than distance_upper_bound. More...

bool	enable_cached_guess
	Whether smart guess can be provided @Deprecated Use gjk_initial_guess instead. More...

unsigned int	epa_max_face_num
	maximum number of simplex face used in EPA algorithm More...

unsigned int	epa_max_iterations
	maximum number of iterations used for EPA iterations More...

unsigned int	epa_max_vertex_num
	maximum number of simplex vertex used in EPA algorithm More...

FCL_REAL	epa_tolerance
	the threshold used in EPA to stop iteration More...

GJKConvergenceCriterion	gjk_convergence_criterion
	Criterion used to stop GJK. More...

GJKConvergenceCriterionType	gjk_convergence_criterion_type
	Relative or absolute. More...

GJKInitialGuess	gjk_initial_guess
	which warm start to use for GJK More...

size_t	gjk_max_iterations
	maximum number of iterations used for GJK iterations More...

FCL_REAL	gjk_tolerance
	the threshold used in GJK to stop iteration More...

GJKVariant	gjk_variant
	Variant to use for the GJK algorithm. More...

support_func_guess_t	support_func_cached_guess
	smart guess for the support function More...

Detailed Description

collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the GJK in bullet)

Definition at line 54 of file narrowphase.h.

Member Typedef Documentation

◆ Array2d

typedef Eigen::Array<FCL_REAL, 1, 2> hpp::fcl::GJKSolver::Array2d

Definition at line 55 of file narrowphase.h.

Constructor & Destructor Documentation

◆ GJKSolver() [1/4]

HPP_FCL_COMPILER_DIAGNOSTIC_PUSH HPP_FCL_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS hpp::fcl::GJKSolver::GJKSolver ( )

inline

Default constructor for GJK algorithm.

Definition at line 350 of file narrowphase.h.

◆ GJKSolver() [2/4]

hpp::fcl::GJKSolver::GJKSolver ( const DistanceRequest & request )

inline

Constructor from a DistanceRequest.

Parameters

[in] request DistanceRequest input

Definition at line 371 of file narrowphase.h.

◆ GJKSolver() [3/4]

hpp::fcl::GJKSolver::GJKSolver ( const CollisionRequest & request )

inline

Constructor from a CollisionRequest.

Parameters

[in] request CollisionRequest input

Definition at line 409 of file narrowphase.h.

◆ GJKSolver() [4/4]

hpp::fcl::GJKSolver::GJKSolver ( const GJKSolver & other )

default

Copy constructor.

Member Function Documentation

◆ initialize_gjk()

template<typename S1 , typename S2 >

void hpp::fcl::GJKSolver::initialize_gjk	(	details::GJK &	gjk,
		const details::MinkowskiDiff &	shape,
		const S1 &	s1,
		const S2 &	s2,
		Vec3f &	guess,
		support_func_guess_t &	support_hint
	)		const

inline

initialize GJK

Definition at line 59 of file narrowphase.h.

◆ operator!=()

HPP_FCL_COMPILER_DIAGNOSTIC_POP bool hpp::fcl::GJKSolver::operator!= ( const GJKSolver & other ) const

inline

Definition at line 473 of file narrowphase.h.

◆ operator==()

HPP_FCL_COMPILER_DIAGNOSTIC_PUSH HPP_FCL_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS bool hpp::fcl::GJKSolver::operator== ( const GJKSolver & other ) const

inline

Definition at line 453 of file narrowphase.h.

◆ set() [1/2]

void hpp::fcl::GJKSolver::set ( const CollisionRequest & request )

inline

setter from a CollisionRequest

Parameters

[in] request CollisionRequest input

Definition at line 427 of file narrowphase.h.

◆ set() [2/2]

void hpp::fcl::GJKSolver::set ( const DistanceRequest & request )

inline

setter from a DistanceRequest

Parameters

[in] request DistanceRequest input

Definition at line 389 of file narrowphase.h.

◆ shapeDistance() [1/10]

template<>

bool hpp::fcl::GJKSolver::shapeDistance	(	const Box &	s1,
		const Transform3f &	tf1,
		const Sphere &	s2,
		const Transform3f &	tf2,
		FCL_REAL &	dist,
		Vec3f &	p1,
		Vec3f &	p2,
		Vec3f &	normal
	)		const

Definition at line 404 of file narrowphase.cpp.

◆ shapeDistance() [2/10]

template<>

bool hpp::fcl::GJKSolver::shapeDistance	(	const Capsule &	,
		const Transform3f &	,
		const Capsule &	,
		const Transform3f &	,
		FCL_REAL &	,
		Vec3f &	,
		Vec3f &	,
		Vec3f &
	)		const

Definition at line 455 of file narrowphase.cpp.

◆ shapeDistance() [3/10]

template<>

bool hpp::fcl::GJKSolver::shapeDistance	(	const Capsule &	s1,
		const Transform3f &	tf1,
		const Sphere &	s2,
		const Transform3f &	tf2,
		FCL_REAL &	dist,
		Vec3f &	p1,
		Vec3f &	p2,
		Vec3f &	normal
	)		const

Definition at line 394 of file narrowphase.cpp.

◆ shapeDistance() [4/10]

template<>

bool hpp::fcl::GJKSolver::shapeDistance	(	const Cylinder &	s1,
		const Transform3f &	tf1,
		const Sphere &	s2,
		const Transform3f &	tf2,
		FCL_REAL &	dist,
		Vec3f &	p1,
		Vec3f &	p2,
		Vec3f &	normal
	)		const

Definition at line 436 of file narrowphase.cpp.

◆ shapeDistance() [5/10]

template<typename S1 , typename S2 >

bool hpp::fcl::GJKSolver::shapeDistance	(	const S1 &	s1,
		const Transform3f &	tf1,
		const S2 &	s2,
		const Transform3f &	tf2,
		FCL_REAL &	distance,
		Vec3f &	p1,
		Vec3f &	p2,
		Vec3f &	normal
	)		const

inline

distance computation between two shapes

Definition at line 261 of file narrowphase.h.

◆ shapeDistance() [6/10]

template<>

bool hpp::fcl::GJKSolver::shapeDistance	(	const Sphere &	s1,
		const Transform3f &	tf1,
		const Box &	s2,
		const Transform3f &	tf2,
		FCL_REAL &	dist,
		Vec3f &	p1,
		Vec3f &	p2,
		Vec3f &	normal
	)		const

Definition at line 414 of file narrowphase.cpp.

◆ shapeDistance() [7/10]

template<>

bool hpp::fcl::GJKSolver::shapeDistance	(	const Sphere &	s1,
		const Transform3f &	tf1,
		const Capsule &	s2,
		const Transform3f &	tf2,
		FCL_REAL &	dist,
		Vec3f &	p1,
		Vec3f &	p2,
		Vec3f &	normal
	)		const

Definition at line 384 of file narrowphase.cpp.

◆ shapeDistance() [8/10]

template<>

bool hpp::fcl::GJKSolver::shapeDistance	(	const Sphere &	s1,
		const Transform3f &	tf1,
		const Cylinder &	s2,
		const Transform3f &	tf2,
		FCL_REAL &	dist,
		Vec3f &	p1,
		Vec3f &	p2,
		Vec3f &	normal
	)		const

Definition at line 427 of file narrowphase.cpp.

◆ shapeDistance() [9/10]

template<>

bool hpp::fcl::GJKSolver::shapeDistance	(	const Sphere &	s1,
		const Transform3f &	tf1,
		const Sphere &	s2,
		const Transform3f &	tf2,
		FCL_REAL &	dist,
		Vec3f &	p1,
		Vec3f &	p2,
		Vec3f &	normal
	)		const

Definition at line 445 of file narrowphase.cpp.

◆ shapeDistance() [10/10]

template<>

bool hpp::fcl::GJKSolver::shapeDistance	(	const TriangleP &	s1,
		const Transform3f &	tf1,
		const TriangleP &	s2,
		const Transform3f &	tf2,
		FCL_REAL &	dist,
		Vec3f &	p1,
		Vec3f &	p2,
		Vec3f &	normal
	)		const

Definition at line 463 of file narrowphase.cpp.

◆ shapeIntersect() [1/18]

template<>

bool hpp::fcl::GJKSolver::shapeIntersect	(	const Box &	s1,
		const Transform3f &	tf1,
		const Halfspace &	s2,
		const Transform3f &	tf2,
		FCL_REAL &	distance,
		bool	,
		Vec3f *	contact_points,
		Vec3f *	normal
	)		const

Definition at line 157 of file narrowphase.cpp.

◆ shapeIntersect() [2/18]

template<>

bool hpp::fcl::GJKSolver::shapeIntersect	(	const Box &	s1,
		const Transform3f &	tf1,
		const Plane &	s2,
		const Transform3f &	tf2,
		FCL_REAL &	distance,
		bool	,
		Vec3f *	contact_points,
		Vec3f *	normal
	)		const

Definition at line 263 of file narrowphase.cpp.

◆ shapeIntersect() [3/18]

template<>

bool hpp::fcl::GJKSolver::shapeIntersect	(	const Box &	s1,
		const Transform3f &	tf1,
		const Sphere &	s2,
		const Transform3f &	tf2,
		FCL_REAL &	distance,
		bool	,
		Vec3f *	contact_points,
		Vec3f *	normal
	)		const

Definition at line 114 of file narrowphase.cpp.

◆ shapeIntersect() [4/18]

template<>

HPP_FCL_DLLAPI bool hpp::fcl::GJKSolver::shapeIntersect	(	const Box &	s1,
		const Transform3f &	tf1,
		const Sphere &	s2,
		const Transform3f &	tf2,
		FCL_REAL &	distance_lower_bound,
		bool	enable_penetration,
		Vec3f *	contact_points,
		Vec3f *	normal
	)		const

◆ shapeIntersect() [5/18]

template<>

bool hpp::fcl::GJKSolver::shapeIntersect	(	const Capsule &	s1,
		const Transform3f &	tf1,
		const Halfspace &	s2,
		const Transform3f &	tf2,
		FCL_REAL &	distance,
		bool	,
		Vec3f *	contact_points,
		Vec3f *	normal
	)		const

Definition at line 172 of file narrowphase.cpp.

◆ shapeIntersect() [6/18]

template<>

bool hpp::fcl::GJKSolver::shapeIntersect	(	const Capsule &	s1,
		const Transform3f &	tf1,
		const Plane &	s2,
		const Transform3f &	tf2,
		FCL_REAL &	distance,
		bool	,
		Vec3f *	contact_points,
		Vec3f *	normal
	)		const

Definition at line 277 of file narrowphase.cpp.

◆ shapeIntersect() [7/18]

template<>

bool hpp::fcl::GJKSolver::shapeIntersect	(	const Cone &	s1,
		const Transform3f &	tf1,
		const Halfspace &	s2,
		const Transform3f &	tf2,
		FCL_REAL &	distance,
		bool	,
		Vec3f *	contact_points,
		Vec3f *	normal
	)		const

Definition at line 202 of file narrowphase.cpp.

◆ shapeIntersect() [8/18]

template<>

bool hpp::fcl::GJKSolver::shapeIntersect	(	const Cone &	s1,
		const Transform3f &	tf1,
		const Plane &	s2,
		const Transform3f &	tf2,
		FCL_REAL &	distance,
		bool	,
		Vec3f *	contact_points,
		Vec3f *	normal
	)		const

Definition at line 307 of file narrowphase.cpp.

◆ shapeIntersect() [9/18]

template<>

bool hpp::fcl::GJKSolver::shapeIntersect	(	const Cylinder &	s1,
		const Transform3f &	tf1,
		const Halfspace &	s2,
		const Transform3f &	tf2,
		FCL_REAL &	distance,
		bool	,
		Vec3f *	contact_points,
		Vec3f *	normal
	)		const

Definition at line 187 of file narrowphase.cpp.

◆ shapeIntersect() [10/18]

template<>

bool hpp::fcl::GJKSolver::shapeIntersect	(	const Cylinder &	s1,
		const Transform3f &	tf1,
		const Plane &	s2,
		const Transform3f &	tf2,
		FCL_REAL &	distance,
		bool	,
		Vec3f *	contact_points,
		Vec3f *	normal
	)		const

Definition at line 292 of file narrowphase.cpp.

◆ shapeIntersect() [11/18]

template<>

bool hpp::fcl::GJKSolver::shapeIntersect	(	const Halfspace &	s1,
		const Transform3f &	tf1,
		const Halfspace &	s2,
		const Transform3f &	tf2,
		FCL_REAL &	distance,
		bool	,
		Vec3f *	,
		Vec3f *
	)		const

Definition at line 217 of file narrowphase.cpp.

◆ shapeIntersect() [12/18]

template<>

bool hpp::fcl::GJKSolver::shapeIntersect	(	const Plane &	s1,
		const Transform3f &	tf1,
		const Halfspace &	s2,
		const Transform3f &	tf2,
		FCL_REAL &	distance,
		bool	,
		Vec3f *	,
		Vec3f *
	)		const

Definition at line 231 of file narrowphase.cpp.

◆ shapeIntersect() [13/18]

template<>

bool hpp::fcl::GJKSolver::shapeIntersect	(	const Plane &	s1,
		const Transform3f &	tf1,
		const Plane &	s2,
		const Transform3f &	tf2,
		FCL_REAL &	distance,
		bool	,
		Vec3f *	contact_points,
		Vec3f *	normal
	)		const

Definition at line 321 of file narrowphase.cpp.

◆ shapeIntersect() [14/18]

template<typename S1 , typename S2 >

bool hpp::fcl::GJKSolver::shapeIntersect	(	const S1 &	s1,
		const Transform3f &	tf1,
		const S2 &	s2,
		const Transform3f &	tf2,
		FCL_REAL &	distance_lower_bound,
		bool	enable_penetration,
		Vec3f *	contact_points,
		Vec3f *	normal
	)		const

inline

intersection checking between two shapes

Definition at line 104 of file narrowphase.h.

◆ shapeIntersect() [15/18]

template<>

bool hpp::fcl::GJKSolver::shapeIntersect	(	const Sphere &	s1,
		const Transform3f &	tf1,
		const Capsule &	s2,
		const Transform3f &	tf2,
		FCL_REAL &	distance_lower_bound,
		bool	,
		Vec3f *	contact_points,
		Vec3f *	normal
	)		const

Definition at line 94 of file narrowphase.cpp.

◆ shapeIntersect() [16/18]

template<>

bool hpp::fcl::GJKSolver::shapeIntersect	(	const Sphere &	s1,
		const Transform3f &	tf1,
		const Halfspace &	s2,
		const Transform3f &	tf2,
		FCL_REAL &	distance,
		bool	,
		Vec3f *	contact_points,
		Vec3f *	normal
	)		const

Definition at line 142 of file narrowphase.cpp.

◆ shapeIntersect() [17/18]

template<>

bool hpp::fcl::GJKSolver::shapeIntersect	(	const Sphere &	s1,
		const Transform3f &	tf1,
		const Plane &	s2,
		const Transform3f &	tf2,
		FCL_REAL &	distance,
		bool	,
		Vec3f *	contact_points,
		Vec3f *	normal
	)		const

Definition at line 248 of file narrowphase.cpp.

◆ shapeIntersect() [18/18]

template<>

bool hpp::fcl::GJKSolver::shapeIntersect	(	const Sphere &	s1,
		const Transform3f &	tf1,
		const Sphere &	s2,
		const Transform3f &	tf2,
		FCL_REAL &	distance_lower_bound,
		bool	,
		Vec3f *	contact_points,
		Vec3f *	normal
	)		const

Definition at line 105 of file narrowphase.cpp.

◆ shapeTriangleInteraction() [1/4]

template<>

bool hpp::fcl::GJKSolver::shapeTriangleInteraction	(	const Halfspace &	s,
		const Transform3f &	tf1,
		const Vec3f &	P1,
		const Vec3f &	P2,
		const Vec3f &	P3,
		const Transform3f &	tf2,
		FCL_REAL &	distance,
		Vec3f &	p1,
		Vec3f &	p2,
		Vec3f &	normal
	)		const

Definition at line 340 of file narrowphase.cpp.

◆ shapeTriangleInteraction() [2/4]

template<>

bool hpp::fcl::GJKSolver::shapeTriangleInteraction	(	const Plane &	s,
		const Transform3f &	tf1,
		const Vec3f &	P1,
		const Vec3f &	P2,
		const Vec3f &	P3,
		const Transform3f &	tf2,
		FCL_REAL &	distance,
		Vec3f &	p1,
		Vec3f &	p2,
		Vec3f &	normal
	)		const

Definition at line 349 of file narrowphase.cpp.

◆ shapeTriangleInteraction() [3/4]

template<typename S >

bool hpp::fcl::GJKSolver::shapeTriangleInteraction	(	const S &	s,
		const Transform3f &	tf1,
		const Vec3f &	P1,
		const Vec3f &	P2,
		const Vec3f &	P3,
		const Transform3f &	tf2,
		FCL_REAL &	distance,
		Vec3f &	p1,
		Vec3f &	p2,
		Vec3f &	normal
	)		const

inline

intersection checking between one shape and a triangle with transformation

Returns: true if the shape are colliding.

Definition at line 178 of file narrowphase.h.

◆ shapeTriangleInteraction() [4/4]

template<>

bool hpp::fcl::GJKSolver::shapeTriangleInteraction	(	const Sphere &	s,
		const Transform3f &	tf1,
		const Vec3f &	P1,
		const Vec3f &	P2,
		const Vec3f &	P3,
		const Transform3f &	tf2,
		FCL_REAL &	distance,
		Vec3f &	p1,
		Vec3f &	p2,
		Vec3f &	normal
	)		const

Definition at line 330 of file narrowphase.cpp.

Member Data Documentation

◆ cached_guess

Vec3f hpp::fcl::GJKSolver::cached_guess

mutable

smart guess

Definition at line 499 of file narrowphase.h.

◆ distance_upper_bound

FCL_REAL hpp::fcl::GJKSolver::distance_upper_bound

mutable

Distance above which the GJK solver stoppes its computations and processes to an early stopping. The two witness points are incorrect, but with the guaranty that the two shapes have a distance greather than distance_upper_bound.

Definition at line 520 of file narrowphase.h.

◆ enable_cached_guess

bool hpp::fcl::GJKSolver::enable_cached_guess

mutable

Whether smart guess can be provided @Deprecated Use gjk_initial_guess instead.

Definition at line 496 of file narrowphase.h.

◆ epa_max_face_num

unsigned int hpp::fcl::GJKSolver::epa_max_face_num

maximum number of simplex face used in EPA algorithm

Definition at line 476 of file narrowphase.h.

◆ epa_max_iterations

unsigned int hpp::fcl::GJKSolver::epa_max_iterations

maximum number of iterations used for EPA iterations

Definition at line 482 of file narrowphase.h.

◆ epa_max_vertex_num

unsigned int hpp::fcl::GJKSolver::epa_max_vertex_num

maximum number of simplex vertex used in EPA algorithm

Definition at line 479 of file narrowphase.h.

◆ epa_tolerance

FCL_REAL hpp::fcl::GJKSolver::epa_tolerance

the threshold used in EPA to stop iteration

Definition at line 485 of file narrowphase.h.

◆ gjk_convergence_criterion

GJKConvergenceCriterion hpp::fcl::GJKSolver::gjk_convergence_criterion

mutable

Criterion used to stop GJK.

Definition at line 508 of file narrowphase.h.

◆ gjk_convergence_criterion_type

GJKConvergenceCriterionType hpp::fcl::GJKSolver::gjk_convergence_criterion_type

mutable

Relative or absolute.

Definition at line 511 of file narrowphase.h.

◆ gjk_initial_guess

GJKInitialGuess hpp::fcl::GJKSolver::gjk_initial_guess

mutable

which warm start to use for GJK

Definition at line 502 of file narrowphase.h.

◆ gjk_max_iterations

size_t hpp::fcl::GJKSolver::gjk_max_iterations

mutable

maximum number of iterations used for GJK iterations

Definition at line 491 of file narrowphase.h.

◆ gjk_tolerance

FCL_REAL hpp::fcl::GJKSolver::gjk_tolerance

mutable

the threshold used in GJK to stop iteration

Definition at line 488 of file narrowphase.h.

◆ gjk_variant

GJKVariant hpp::fcl::GJKSolver::gjk_variant

mutable

Variant to use for the GJK algorithm.

Definition at line 505 of file narrowphase.h.

◆ support_func_cached_guess

support_func_guess_t hpp::fcl::GJKSolver::support_func_cached_guess

mutable

smart guess for the support function

Definition at line 514 of file narrowphase.h.

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

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

◆ Array2d

Constructor & Destructor Documentation

◆ GJKSolver() [1/4]

◆ GJKSolver() [2/4]

◆ GJKSolver() [3/4]

◆ GJKSolver() [4/4]

Member Function Documentation

◆ initialize_gjk()

◆ operator!=()

◆ operator==()

◆ set() [1/2]

◆ set() [2/2]

◆ shapeDistance() [1/10]

◆ shapeDistance() [2/10]

◆ shapeDistance() [3/10]

◆ shapeDistance() [4/10]

◆ shapeDistance() [5/10]

◆ shapeDistance() [6/10]

◆ shapeDistance() [7/10]

◆ shapeDistance() [8/10]

◆ shapeDistance() [9/10]

◆ shapeDistance() [10/10]

◆ shapeIntersect() [1/18]

◆ shapeIntersect() [2/18]

◆ shapeIntersect() [3/18]

◆ shapeIntersect() [4/18]

◆ shapeIntersect() [5/18]

◆ shapeIntersect() [6/18]

◆ shapeIntersect() [7/18]

◆ shapeIntersect() [8/18]

◆ shapeIntersect() [9/18]

◆ shapeIntersect() [10/18]

◆ shapeIntersect() [11/18]

◆ shapeIntersect() [12/18]

◆ shapeIntersect() [13/18]

◆ shapeIntersect() [14/18]

◆ shapeIntersect() [15/18]

◆ shapeIntersect() [16/18]

◆ shapeIntersect() [17/18]

◆ shapeIntersect() [18/18]

◆ shapeTriangleInteraction() [1/4]

◆ shapeTriangleInteraction() [2/4]

◆ shapeTriangleInteraction() [3/4]

◆ shapeTriangleInteraction() [4/4]

Member Data Documentation

◆ cached_guess

◆ distance_upper_bound

◆ enable_cached_guess

◆ epa_max_face_num

◆ epa_max_iterations

◆ epa_max_vertex_num

◆ epa_tolerance

◆ gjk_convergence_criterion

◆ gjk_convergence_criterion_type

◆ gjk_initial_guess

◆ gjk_max_iterations

◆ gjk_tolerance

◆ gjk_variant

◆ support_func_cached_guess