src/narrowphase/gjk.cpp File Reference

#include <hpp/fcl/narrowphase/gjk.h>
#include <hpp/fcl/internal/intersect.h>
#include <hpp/fcl/internal/tools.h>
#include <hpp/fcl/shape/geometric_shapes_traits.h>

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

Go to the source code of this file.

Classes
struct	hpp::fcl::details::LargeConvex
struct	hpp::fcl::details::SmallConvex

Namespaces
	hpp
	Main namespace.
	hpp::fcl
	hpp::fcl::details
	hpp::fcl::details::details

Macros
#define	CALL_GET_SHAPE_SUPPORT(ShapeType)
#define	REGION_INSIDE()

Functions
bool	hpp::fcl::details::details::getClosestPoints (const GJK::Simplex &simplex, Vec3f &w0, Vec3f &w1)
bool	hpp::fcl::details::getNormalizeSupportDirection (const ShapeBase *shape)
void	hpp::fcl::details::getNormalizeSupportDirectionFromShapes (const ShapeBase *shape0, const ShapeBase *shape1, bool &normalize_support_direction)
void	hpp::fcl::details::getShapeSupport (const TriangleP *triangle, const Vec3f &dir, Vec3f &support, int &, MinkowskiDiff::ShapeData *)
void	hpp::fcl::details::getShapeSupport (const Box *box, const Vec3f &dir, Vec3f &support, int &, MinkowskiDiff::ShapeData *)
void	hpp::fcl::details::getShapeSupport (const Sphere *, const Vec3f &, Vec3f &support, int &, MinkowskiDiff::ShapeData *)
void	hpp::fcl::details::getShapeSupport (const Ellipsoid *ellipsoid, const Vec3f &dir, Vec3f &support, int &, MinkowskiDiff::ShapeData *)
void	hpp::fcl::details::getShapeSupport (const Capsule *capsule, const Vec3f &dir, Vec3f &support, int &, MinkowskiDiff::ShapeData *)
void	hpp::fcl::details::getShapeSupport (const Cone *cone, const Vec3f &dir, Vec3f &support, int &, MinkowskiDiff::ShapeData *)
void	hpp::fcl::details::getShapeSupport (const Cylinder *cylinder, const Vec3f &dir, Vec3f &support, int &, MinkowskiDiff::ShapeData *)
void	hpp::fcl::details::getShapeSupport (const ConvexBase *convex, const Vec3f &dir, Vec3f &support, int &hint, MinkowskiDiff::ShapeData *)
void	hpp::fcl::details::getShapeSupport (const SmallConvex *convex, const Vec3f &dir, Vec3f &support, int &hint, MinkowskiDiff::ShapeData *data)
void	hpp::fcl::details::getShapeSupport (const LargeConvex *convex, const Vec3f &dir, Vec3f &support, int &hint, MinkowskiDiff::ShapeData *data)
void	hpp::fcl::details::getShapeSupportLinear (const ConvexBase *convex, const Vec3f &dir, Vec3f &support, int &hint, MinkowskiDiff::ShapeData *)
void	hpp::fcl::details::getShapeSupportLog (const ConvexBase *convex, const Vec3f &dir, Vec3f &support, int &hint, MinkowskiDiff::ShapeData *data)
Vec3f	hpp::fcl::details::getSupport (const ShapeBase *shape, const Vec3f &dir, bool dirIsNormalized, int &hint)
	the support function for shape More...
template<typename Shape0 , typename Shape1 , bool TransformIsIdentity>
void	hpp::fcl::details::getSupportFuncTpl (const MinkowskiDiff &md, const Vec3f &dir, bool dirIsNormalized, Vec3f &support0, Vec3f &support1, support_func_guess_t &hint, MinkowskiDiff::ShapeData data[2])
template<typename Shape0 , typename Shape1 , bool TransformIsIdentity>
void	hpp::fcl::details::getSupportTpl (const Shape0 *s0, const Shape1 *s1, const Matrix3f &oR1, const Vec3f &ot1, const Vec3f &dir, Vec3f &support0, Vec3f &support1, support_func_guess_t &hint, MinkowskiDiff::ShapeData data[2])
template<bool Separated>
void	hpp::fcl::details::details::inflate (const MinkowskiDiff &shape, Vec3f &w0, Vec3f &w1)
	Inflate the points. More...
MinkowskiDiff::GetSupportFunction	hpp::fcl::details::makeGetSupportFunction0 (const ShapeBase *s0, const ShapeBase *s1, bool identity, Eigen::Array< FCL_REAL, 1, 2 > &inflation, int linear_log_convex_threshold)
template<typename Shape0 >
MinkowskiDiff::GetSupportFunction	hpp::fcl::details::makeGetSupportFunction1 (const ShapeBase *s1, bool identity, Eigen::Array< FCL_REAL, 1, 2 > &inflation, int linear_log_convex_threshold)
void	hpp::fcl::details::originToPoint (const GJK::Simplex &current, GJK::vertex_id_t a, const Vec3f &A, GJK::Simplex &next, Vec3f &ray)
void	hpp::fcl::details::originToSegment (const GJK::Simplex &current, GJK::vertex_id_t a, GJK::vertex_id_t b, const Vec3f &A, const Vec3f &B, const Vec3f &AB, const FCL_REAL &ABdotAO, GJK::Simplex &next, Vec3f &ray)
bool	hpp::fcl::details::originToTriangle (const GJK::Simplex &current, GJK::vertex_id_t a, GJK::vertex_id_t b, GJK::vertex_id_t c, const Vec3f &ABC, const FCL_REAL &ABCdotAO, GJK::Simplex &next, Vec3f &ray)

Macro Definition Documentation

CALL_GET_SHAPE_SUPPORT

#define CALL_GET_SHAPE_SUPPORT

(

ShapeType

)

Value:

getShapeSupport(                                                     \
      static_cast<const ShapeType*>(shape),                            \
      (shape_traits<ShapeType>::NeedNormalizedDir && !dirIsNormalized) \
          ? dir.normalized()                                           \
          : dir,                                                       \
      support, hint, NULL)

Definition at line 252 of file src/narrowphase/gjk.cpp.

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;