Main namespace. More...

Namespaces
	detail

	details

	internal

	kIOS_fit_functions

	OBB_fit_functions

	OBBRSS_fit_functions

	python

	RSS_fit_functions

	serialization

	viewer

	windows_dll_manager

Classes
class	AABB
	A class describing the AABB collision structure, which is a box in 3D space determined by two diagonal points. More...

class	BenchTimer

class	Box
	Center at zero point, axis aligned box. More...

class	BroadPhaseCollisionManager
	Base class for broad phase collision. It helps to accelerate the collision/distance between N objects. Also support self collision, self distance and collision/distance with another M objects. More...

struct	BroadPhaseCollisionManagerWrapper

class	BroadPhaseContinuousCollisionManager
	Base class for broad phase continuous collision. It helps to accelerate the continuous collision/distance between N objects. Also support self collision, self distance and collision/distance with another M objects. More...

class	BVFitter
	The class for the default algorithm fitting a bounding volume to a set of points. More...

class	BVFitter< AABB >
	Specification of BVFitter for AABB bounding volume. More...

class	BVFitter< kIOS >
	Specification of BVFitter for kIOS bounding volume. More...

class	BVFitter< OBB >
	Specification of BVFitter for OBB bounding volume. More...

class	BVFitter< OBBRSS >
	Specification of BVFitter for OBBRSS bounding volume. More...

class	BVFitter< RSS >
	Specification of BVFitter for RSS bounding volume. More...

class	BVFitterTpl
	The class for the default algorithm fitting a bounding volume to a set of points. More...

struct	BVHComputeContactPatch

struct	BVHFrontNode
	Front list acceleration for collision Front list is a set of internal and leaf nodes in the BVTT hierarchy, where the traversal terminates while performing a query during a given time instance. The front list reflects the subset of a BVTT that is traversed for that particular proximity query. More...

class	BVHModel
	A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh) More...

class	BVHModelBase
	A base class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh) More...

struct	BVHShapeCollider

struct	BVHShapeComputeContactPatch

struct	BVHShapeDistancer

struct	BVHShapeDistancer< kIOS, T_SH >

struct	BVHShapeDistancer< OBBRSS, T_SH >

struct	BVHShapeDistancer< RSS, T_SH >

struct	BVNode
	A class describing a bounding volume node. It includes the tree structure providing in BVNodeBase and also the geometry data provided in BV template parameter. More...

struct	BVNodeBase
	BVNodeBase encodes the tree structure for BVH. More...

class	BVSplitter
	A class describing the split rule that splits each BV node. More...

struct	BVT
	Bounding volume test structure. More...

struct	BVT_Comparer
	Comparer between two BVT. More...

struct	BVTQ

class	CachedMeshLoader

class	Capsule
	Capsule It is ${ x~\in~\mathbb{R}^3, d(x, AB) \leq radius }$ where is the distance between the point x and the capsule segment AB, with . More...

struct	CollisionCallBackBase
	Base callback class for collision queries. This class can be supersed by child classes to provide desired behaviors according to the application (e.g, only listing the potential CollisionObjects in collision). More...

struct	CollisionCallBackBaseWrapper

struct	CollisionCallBackCollect
	Collision callback to collect collision pairs potentially in contacts. More...

struct	CollisionCallBackDefault
	Default collision callback to check collision between collision objects. More...

struct	CollisionData
	Collision data stores the collision request and the result given by collision algorithm. More...

struct	CollisionFunctionMatrix
	collision matrix stores the functions for collision between different types of objects and provides a uniform call interface More...

class	CollisionGeometry
	The geometry for the object for collision or distance computation. More...

class	CollisionObject
	the object for collision or distance computation, contains the geometry and the transform information More...

struct	CollisionRequest
	request to the collision algorithm More...

struct	CollisionResult
	collision result More...

class	ComputeCollision
	This class reduces the cost of identifying the geometry pair. This is mostly useful for repeated shape-shape queries. More...

class	ComputeContactPatch
	This class reduces the cost of identifying the geometry pair. This is usefull for repeated shape-shape queries. More...

class	ComputeDistance

struct	ComputeShapeShapeContactPatch
	Shape-shape contact patch computation. Assumes that `csolver` and the `ContactPatchResult` have already been set up by the `ContactPatchRequest`. More...

class	Cone
	Cone The base of the cone is at and the top is at . More...

struct	Contact
	Contact information returned by collision. More...

struct	ContactPatch
	This structure allows to encode contact patches. A contact patch is defined by a set of points belonging to a subset of a plane passing by `p` and supported by `n`, where `n = Contact::normal` and `p = Contact::pos`. If we denote by P this plane and by S1 and S2 the first and second shape of a collision pair, a contact patch is represented as a polytope which vertices all belong to `P & S1 & S2`, where `&` denotes the set-intersection. Since a contact patch is a subset of a plane supported by `n`, it has a preferred direction. In Coal, the `Contact::normal` points from S1 to S2. In the same way, a contact patch points by default from S1 to S2. More...

struct	ContactPatchFunctionMatrix
	The contact patch matrix stores the functions for contact patches computation between different types of objects and provides a uniform call interface. More...

struct	ContactPatchRequest
	Request for a contact patch computation. More...

struct	ContactPatchResult
	Result for a contact patch computation. More...

struct	ContactPatchSolver
	Solver to compute contact patches, i.e. the intersection between two contact surfaces projected onto the shapes' separating plane. Otherwise said, a contact patch is simply the intersection between two support sets: the support set of shape S1 in direction `n` and the support set of shape S2 in direction `-n`, where `n` is the contact normal (satisfying the optimality conditions of GJK/EPA). More...

class	Convex
	Convex polytope. More...

class	ConvexBase
	Base for convex polytope. More...

struct	CPUTimes

class	Cylinder
	Cylinder along Z axis. The cylinder is defined at its centroid. More...

struct	DistanceCallBackBase
	Base callback class for distance queries. This class can be supersed by child classes to provide desired behaviors according to the application (e.g, only listing the potential CollisionObjects in collision). More...

struct	DistanceCallBackBaseWrapper

struct	DistanceCallBackDefault
	Default distance callback to check collision between collision objects. More...

struct	DistanceData
	Distance data stores the distance request and the result given by distance algorithm. More...

struct	DistanceFunctionMatrix
	distance matrix stores the functions for distance between different types of objects and provides a uniform call interface More...

struct	DistanceRequest
	request to the distance computation More...

struct	DistanceRes

struct	DistanceResult
	distance result More...

class	DummyCollisionObject
	Dummy collision object with a point AABB. More...

class	DynamicAABBTreeArrayCollisionManager

class	DynamicAABBTreeCollisionManager

class	Ellipsoid
	Ellipsoid centered at point zero. More...

struct	GJKSolver
	collision and distance solver based on the GJK and EPA algorithms. Originally, GJK and EPA were implemented in fcl which itself took inspiration from the code of the GJK in bullet. Since then, both GJK and EPA have been largely modified to be faster and more robust to numerical accuracy and edge cases. More...

class	Halfspace
	Half Space: this is equivalent to the Plane in ODE. A Half space has a priviledged direction: the direction of the normal. The separation plane is defined as n * x = d; Points in the negative side of the separation plane (i.e. {x \| n * x < d}) are inside the half space and points in the positive side of the separation plane (i.e. {x \| n * x > d}) are outside the half space. Note: prefer using a Halfspace instead of a Plane if possible, it has better behavior w.r.t. collision detection algorithms. More...

class	HeightField
	Data structure depicting a height field given by the base grid dimensions and the elevation along the grid. More...

struct	HeightFieldShapeCollider
	Collider functor for HeightField data structure. More...

struct	HeightFieldShapeComputeContactPatch

struct	HeightFieldShapeDistancer

struct	HFNode

struct	HFNodeBase

class	IntervalTreeCollisionManager
	Collision manager based on interval tree. More...

class	KDOP
	KDOP class describes the KDOP collision structures. K is set as the template parameter, which should be 16, 18, or 24 The KDOP structure is defined by some pairs of parallel planes defined by some axes. For K = 16, the planes are 6 AABB planes and 10 diagonal planes that cut off some space of the edges: (-1,0,0) and (1,0,0) -> indices 0 and 8 (0,-1,0) and (0,1,0) -> indices 1 and 9 (0,0,-1) and (0,0,1) -> indices 2 and 10 (-1,-1,0) and (1,1,0) -> indices 3 and 11 (-1,0,-1) and (1,0,1) -> indices 4 and 12 (0,-1,-1) and (0,1,1) -> indices 5 and 13 (-1,1,0) and (1,-1,0) -> indices 6 and 14 (-1,0,1) and (1,0,-1) -> indices 7 and 15 For K = 18, the planes are 6 AABB planes and 12 diagonal planes that cut off some space of the edges: (-1,0,0) and (1,0,0) -> indices 0 and 9 (0,-1,0) and (0,1,0) -> indices 1 and 10 (0,0,-1) and (0,0,1) -> indices 2 and 11 (-1,-1,0) and (1,1,0) -> indices 3 and 12 (-1,0,-1) and (1,0,1) -> indices 4 and 13 (0,-1,-1) and (0,1,1) -> indices 5 and 14 (-1,1,0) and (1,-1,0) -> indices 6 and 15 (-1,0,1) and (1,0,-1) -> indices 7 and 16 (0,-1,1) and (0,1,-1) -> indices 8 and 17 For K = 18, the planes are 6 AABB planes and 18 diagonal planes that cut off some space of the edges: (-1,0,0) and (1,0,0) -> indices 0 and 12 (0,-1,0) and (0,1,0) -> indices 1 and 13 (0,0,-1) and (0,0,1) -> indices 2 and 14 (-1,-1,0) and (1,1,0) -> indices 3 and 15 (-1,0,-1) and (1,0,1) -> indices 4 and 16 (0,-1,-1) and (0,1,1) -> indices 5 and 17 (-1,1,0) and (1,-1,0) -> indices 6 and 18 (-1,0,1) and (1,0,-1) -> indices 7 and 19 (0,-1,1) and (0,1,-1) -> indices 8 and 20 (-1, -1, 1) and (1, 1, -1) --> indices 9 and 21 (-1, 1, -1) and (1, -1, 1) --> indices 10 and 22 (1, -1, -1) and (-1, 1, 1) --> indices 11 and 23. More...

class	kIOS
	A class describing the kIOS collision structure, which is a set of spheres. More...

class	MeshLoader

class	NaiveCollisionManager
	Brute force N-body collision manager. More...

struct	OBB
	Oriented bounding box class. More...

struct	OBBRSS
	Class merging the OBB and RSS, can handle collision and distance simultaneously. More...

class	OcTree
	Octree is one type of collision geometry which can encode uncertainty information in the sensor data. More...

class	Plane
	Infinite plane. A plane can be viewed as two half spaces; it has no priviledged direction. Note: prefer using a Halfspace instead of a Plane if possible, it has better behavior w.r.t. collision detection algorithms. More...

struct	Quadrilateral
	Quadrilateral with 4 indices for points. More...

struct	QueryRequest
	base class for all query requests More...

struct	QueryResult
	base class for all query results More...

struct	RSS
	A class for rectangle sphere-swept bounding volume. More...

class	SaPCollisionManager
	Rigorous SAP collision manager. More...

struct	shape_traits

struct	shape_traits< Box >

struct	shape_traits< Capsule >

struct	shape_traits< Cone >

struct	shape_traits< ConvexBase >

struct	shape_traits< Cylinder >

struct	shape_traits< Ellipsoid >

struct	shape_traits< Halfspace >

struct	shape_traits< Sphere >

struct	shape_traits< TriangleP >

struct	shape_traits_base

class	ShapeBase
	Base class for all basic geometric shapes. More...

struct	SortByXLow
	Functor sorting objects according to the AABB lower x bound. More...

struct	SortByYLow
	Functor sorting objects according to the AABB lower y bound. More...

struct	SortByZLow
	Functor sorting objects according to the AABB lower z bound. More...

class	SpatialHashingCollisionManager
	spatial hashing collision mananger More...

class	Sphere
	Center at zero point sphere. More...

class	SSaPCollisionManager
	Simple SAP collision manager. More...

struct	Timer
	This class mimics the way "boost/timer/timer.hpp" operates while using the modern std::chrono library. Importantly, this class will only have an effect for C++11 and more. More...

class	Transform3s
	Simple transform class used locally by InterpMotion. More...

struct	TraversalTraitsCollision

struct	TraversalTraitsDistance

class	Triangle
	Triangle with 3 indices for points. More...

class	TriangleP
	Triangle stores the points instead of only indices of points. More...

struct	TStruct

Typedefs
typedef Eigen::AngleAxis< CoalScalar >	AngleAxis

using	BroadPhaseContinuousCollisionManagerd = BroadPhaseContinuousCollisionManager< CoalScalar >

using	BroadPhaseContinuousCollisionManagerf = BroadPhaseContinuousCollisionManager< float >

typedef std::list< BVHFrontNode >	BVHFrontList
	BVH front list is a list of front nodes. More...

typedef shared_ptr< BVHModelBase >	BVHModelPtr_t

typedef double	CoalScalar

typedef shared_ptr< const CollisionGeometry >	CollisionGeometryConstPtr_t

typedef shared_ptr< CollisionGeometry >	CollisionGeometryPtr_t

typedef shared_ptr< const CollisionObject >	CollisionObjectConstPtr_t

typedef shared_ptr< CollisionObject >	CollisionObjectPtr_t

template<typename S >
using	ContinuousCollisionCallBack = bool()(ContinuousCollisionObject o1, ContinuousCollisionObject o2, void cdata)
	Callback for continuous collision between two objects. Return value is whether can stop now. More...

template<typename S >
using	ContinuousDistanceCallBack = bool()(ContinuousCollisionObject o1, ContinuousCollisionObject *o2, S &dist)
	Callback for continuous distance between two objects, Return value is whether can stop now, also return the minimum distance till now. More...

typedef Eigen::Matrix< CoalScalar, 3, 3 >	Matrix3s

typedef Eigen::Matrix< CoalScalar, Eigen::Dynamic, 2, Eigen::RowMajor >	MatrixX2s

typedef Eigen::Matrix< Eigen::DenseIndex, Eigen::Dynamic, 3, Eigen::RowMajor >	Matrixx3i

typedef Eigen::Matrix< CoalScalar, Eigen::Dynamic, 3, Eigen::RowMajor >	MatrixX3s

typedef Eigen::Matrix< CoalScalar, Eigen::Dynamic, Eigen::Dynamic >	MatrixXs

typedef shared_ptr< const OcTree >	OcTreeConstPtr_t

typedef shared_ptr< OcTree >	OcTreePtr_t

typedef Eigen::Quaternion< CoalScalar >	Quatf

typedef Eigen::Vector2i	support_func_guess_t

using	SupportSet = ContactPatch
	Structure used for internal computations. A support set and a contact patch can be represented by the same structure. In fact, a contact patch is the intersection of two support sets, one with `PatchDirection::DEFAULT` and one with `PatchDirection::INVERTED`. More...

typedef Eigen::Matrix< CoalScalar, 2, 1 >	Vec2s

typedef Eigen::Matrix< CoalScalar, 3, 1 >	Vec3s

typedef Eigen::Matrix< CoalScalar, 6, 1 >	Vec6s

typedef Eigen::Matrix< CoalScalar, Eigen::Dynamic, 1 >	VecXs

Enumerations
enum	BVHBuildState { BVH_BUILD_STATE_EMPTY, BVH_BUILD_STATE_BEGUN, BVH_BUILD_STATE_PROCESSED, BVH_BUILD_STATE_UPDATE_BEGUN, BVH_BUILD_STATE_UPDATED, BVH_BUILD_STATE_REPLACE_BEGUN }
	States for BVH construction empty->begun->processed ->replace_begun->processed -> ...... \| \|-> update_begun -> updated -> ..... More...

enum	BVHModelType { BVH_MODEL_UNKNOWN, BVH_MODEL_TRIANGLES, BVH_MODEL_POINTCLOUD }
	BVH model type. More...

enum	BVHReturnCode { BVH_OK = 0, BVH_ERR_MODEL_OUT_OF_MEMORY, BVH_ERR_BUILD_OUT_OF_SEQUENCE, BVH_ERR_BUILD_EMPTY_MODEL = -3, BVH_ERR_BUILD_EMPTY_PREVIOUS_FRAME, BVH_ERR_UNSUPPORTED_FUNCTION = -5, BVH_ERR_UNUPDATED_MODEL = -6, BVH_ERR_INCORRECT_DATA = -7, BVH_ERR_UNKNOWN = -8 }
	Error code for BVH. More...

enum	CollisionRequestFlag { CONTACT = 0x00001, DISTANCE_LOWER_BOUND = 0x00002, NO_REQUEST = 0x01000 }
	flag declaration for specifying required params in CollisionResult More...

enum	GJKConvergenceCriterion { Default, DualityGap, Hybrid }
	Which convergence criterion is used to stop the algorithm (when the shapes are not in collision). (default) VDB: Van den Bergen (A Fast and Robust GJK Implementation, 1999) DG: duality-gap, as used in the Frank-Wolfe and the vanilla 1988 GJK algorithms Hybrid: a mix between VDB and DG. More...

enum	GJKConvergenceCriterionType { Relative, Absolute }
	Wether the convergence criterion is scaled on the norm of the solution or not. More...

enum	GJKInitialGuess { DefaultGuess, CachedGuess, BoundingVolumeGuess }
	Initial guess to use for the GJK algorithm DefaultGuess: Vec3s(1, 0, 0) CachedGuess: previous vector found by GJK or guess cached by the user BoundingVolumeGuess: guess using the centers of the shapes' AABB WARNING: to use BoundingVolumeGuess, computeLocalAABB must have been called on the two shapes. More...

enum	GJKVariant { DefaultGJK, PolyakAcceleration, NesterovAcceleration }
	Variant to use for the GJK algorithm. More...

enum	NODE_TYPE { BV_UNKNOWN, BV_AABB, BV_OBB, BV_RSS, BV_kIOS, BV_OBBRSS, BV_KDOP16, BV_KDOP18, BV_KDOP24, GEOM_BOX, GEOM_SPHERE, GEOM_CAPSULE, GEOM_CONE, GEOM_CYLINDER, GEOM_CONVEX, GEOM_PLANE, GEOM_HALFSPACE, GEOM_TRIANGLE, GEOM_OCTREE, GEOM_ELLIPSOID, HF_AABB, HF_OBBRSS, NODE_COUNT }
	traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS, KDOP16, KDOP18, kDOP24), basic shape (box, sphere, ellipsoid, capsule, cone, cylinder, convex, plane, triangle), and octree More...

enum	OBJECT_TYPE { OT_UNKNOWN, OT_BVH, OT_GEOM, OT_OCTREE, OT_HFIELD, OT_COUNT }
	object type: BVH (mesh, points), basic geometry, octree More...

enum	SplitMethodType { SPLIT_METHOD_MEAN, SPLIT_METHOD_MEDIAN, SPLIT_METHOD_BV_CENTER }
	Three types of split algorithms are provided in FCL as default. More...

Functions
template<typename BV >
BVHModelPtr_t	_load (const std::string &filename, const Vec3s &scale)

static void	axisFromEigen (Vec3s eigenV[3], CoalScalar eigenS[3], Matrix3s &axes)

Convex< Quadrilateral >	buildBox (CoalScalar l, CoalScalar w, CoalScalar d)
	Constructs a box with halfsides (l, w, d), centered around 0. The box is 2l wide on the x-axis, 2w wide on the y-axis and 2*d wide on the z-axis. More...

template<typename T_BVH >
std::size_t	BVHCollide (const CollisionGeometry o1, const Transform3s &tf1, const CollisionGeometry o2, const Transform3s &tf2, const CollisionRequest &request, CollisionResult &result)

template<typename T_BVH >
std::size_t	BVHCollide (const CollisionGeometry o1, const Transform3s &tf1, const CollisionGeometry o2, const Transform3s &tf2, const GJKSolver *, const CollisionRequest &request, CollisionResult &result)

template<>
std::size_t	BVHCollide< kIOS > (const CollisionGeometry o1, const Transform3s &tf1, const CollisionGeometry o2, const Transform3s &tf2, const CollisionRequest &request, CollisionResult &result)

template<>
std::size_t	BVHCollide< OBB > (const CollisionGeometry o1, const Transform3s &tf1, const CollisionGeometry o2, const Transform3s &tf2, const CollisionRequest &request, CollisionResult &result)

template<>
std::size_t	BVHCollide< OBBRSS > (const CollisionGeometry o1, const Transform3s &tf1, const CollisionGeometry o2, const Transform3s &tf2, const CollisionRequest &request, CollisionResult &result)

template<typename T_BVH >
CoalScalar	BVHDistance (const CollisionGeometry o1, const Transform3s &tf1, const CollisionGeometry o2, const Transform3s &tf2, const DistanceRequest &request, DistanceResult &result)

template<typename T_BVH >
CoalScalar	BVHDistance (const CollisionGeometry o1, const Transform3s &tf1, const CollisionGeometry o2, const Transform3s &tf2, const GJKSolver *, const DistanceRequest &request, DistanceResult &result)

template<>
CoalScalar	BVHDistance< kIOS > (const CollisionGeometry o1, const Transform3s &tf1, const CollisionGeometry o2, const Transform3s &tf2, const DistanceRequest &request, DistanceResult &result)

template<>
CoalScalar	BVHDistance< OBBRSS > (const CollisionGeometry o1, const Transform3s &tf1, const CollisionGeometry o2, const Transform3s &tf2, const DistanceRequest &request, DistanceResult &result)

template<>
CoalScalar	BVHDistance< RSS > (const CollisionGeometry o1, const Transform3s &tf1, const CollisionGeometry o2, const Transform3s &tf2, const DistanceRequest &request, DistanceResult &result)

template<>
COAL_DLLAPI BVHModel< AABB > *	BVHExtract (const BVHModel< AABB > &model, const Transform3s &pose, const AABB &aabb)

template<typename BV >
COAL_DLLAPI BVHModel< BV > *	BVHExtract (const BVHModel< BV > &model, const Transform3s &pose, const AABB &aabb)
	Extract the part of the BVHModel that is inside an AABB. A triangle in collision with the AABB is considered inside. More...

template<>
COAL_DLLAPI BVHModel< KDOP< 16 > > *	BVHExtract (const BVHModel< KDOP< 16 > > &model, const Transform3s &pose, const AABB &aabb)

template<>
COAL_DLLAPI BVHModel< KDOP< 18 > > *	BVHExtract (const BVHModel< KDOP< 18 > > &model, const Transform3s &pose, const AABB &aabb)

template<>
COAL_DLLAPI BVHModel< KDOP< 24 > > *	BVHExtract (const BVHModel< KDOP< 24 > > &model, const Transform3s &pose, const AABB &aabb)

template<>
COAL_DLLAPI BVHModel< kIOS > *	BVHExtract (const BVHModel< kIOS > &model, const Transform3s &pose, const AABB &aabb)

template<>
COAL_DLLAPI BVHModel< OBB > *	BVHExtract (const BVHModel< OBB > &model, const Transform3s &pose, const AABB &aabb)

template<>
COAL_DLLAPI BVHModel< OBBRSS > *	BVHExtract (const BVHModel< OBBRSS > &model, const Transform3s &pose, const AABB &aabb)

template<>
COAL_DLLAPI BVHModel< RSS > *	BVHExtract (const BVHModel< RSS > &model, const Transform3s &pose, const AABB &aabb)

void	checkResultLowerBound (const CollisionResult &result, CoalScalar sqrDistLowerBound)

COAL_DLLAPI void	circumCircleComputation (const Vec3s &a, const Vec3s &b, const Vec3s &c, Vec3s &center, CoalScalar &radius)
	Compute the center and radius for a triangle's circumcircle. More...

void	clipToRange (CoalScalar &val, CoalScalar a, CoalScalar b)
	Clip value between a and b. More...

void	collide (CollisionTraversalNodeBase node, const CollisionRequest &request, CollisionResult &result, BVHFrontList front_list, bool recursive)

COAL_DLLAPI std::size_t	collide (const CollisionGeometry o1, const Transform3s &tf1, const CollisionGeometry o2, const Transform3s &tf2, const CollisionRequest &request, CollisionResult &result)

COAL_DLLAPI std::size_t	collide (const CollisionObject o1, const CollisionObject o2, const CollisionRequest &request, CollisionResult &result)
	Main collision interface: given two collision objects, and the requirements for contacts, including num of max contacts, whether perform exhaustive collision (i.e., returning returning all the contact points), whether return detailed contact information (i.e., normal, contact point, depth; otherwise only contact primitive id is returned), this function performs the collision between them. Return value is the number of contacts generated between the two objects. More...

void	collisionNonRecurse (CollisionTraversalNodeBase node, BVHFrontList front_list, CoalScalar &sqrDistLowerBound)

void	collisionRecurse (CollisionTraversalNodeBase node, unsigned int b1, unsigned int b2, BVHFrontList front_list, CoalScalar &sqrDistLowerBound)

template<typename BV , typename S >
void	computeBV (const S &s, const Transform3s &tf, BV &bv)
	calculate a bounding volume for a shape in a specific configuration More...

template<>
COAL_DLLAPI void	computeBV< AABB, Box > (const Box &s, const Transform3s &tf, AABB &bv)

template<>
COAL_DLLAPI void	computeBV< AABB, Capsule > (const Capsule &s, const Transform3s &tf, AABB &bv)

template<>
COAL_DLLAPI void	computeBV< AABB, Cone > (const Cone &s, const Transform3s &tf, AABB &bv)

template<>
COAL_DLLAPI void	computeBV< AABB, ConvexBase > (const ConvexBase &s, const Transform3s &tf, AABB &bv)

template<>
COAL_DLLAPI void	computeBV< AABB, Cylinder > (const Cylinder &s, const Transform3s &tf, AABB &bv)

template<>
COAL_DLLAPI void	computeBV< AABB, Ellipsoid > (const Ellipsoid &e, const Transform3s &tf, AABB &bv)

template<>
COAL_DLLAPI void	computeBV< AABB, Halfspace > (const Halfspace &s, const Transform3s &tf, AABB &bv)

template<>
COAL_DLLAPI void	computeBV< AABB, Plane > (const Plane &s, const Transform3s &tf, AABB &bv)

template<>
COAL_DLLAPI void	computeBV< AABB, Sphere > (const Sphere &s, const Transform3s &tf, AABB &bv)

template<>
COAL_DLLAPI void	computeBV< AABB, TriangleP > (const TriangleP &s, const Transform3s &tf, AABB &bv)

template<>
COAL_DLLAPI void	computeBV< KDOP< 16 >, Halfspace > (const Halfspace &s, const Transform3s &tf, KDOP< 16 > &bv)

template<>
COAL_DLLAPI void	computeBV< KDOP< 16 >, Plane > (const Plane &s, const Transform3s &tf, KDOP< 16 > &bv)

template<>
COAL_DLLAPI void	computeBV< KDOP< 18 >, Halfspace > (const Halfspace &s, const Transform3s &tf, KDOP< 18 > &bv)

template<>
COAL_DLLAPI void	computeBV< KDOP< 18 >, Plane > (const Plane &s, const Transform3s &tf, KDOP< 18 > &bv)

template<>
COAL_DLLAPI void	computeBV< KDOP< 24 >, Halfspace > (const Halfspace &s, const Transform3s &tf, KDOP< 24 > &bv)

template<>
COAL_DLLAPI void	computeBV< KDOP< 24 >, Plane > (const Plane &s, const Transform3s &tf, KDOP< 24 > &bv)

template<>
COAL_DLLAPI void	computeBV< kIOS, Halfspace > (const Halfspace &s, const Transform3s &tf, kIOS &bv)

template<>
COAL_DLLAPI void	computeBV< kIOS, Plane > (const Plane &s, const Transform3s &tf, kIOS &bv)

template<>
COAL_DLLAPI void	computeBV< OBB, Box > (const Box &s, const Transform3s &tf, OBB &bv)

template<>
COAL_DLLAPI void	computeBV< OBB, Capsule > (const Capsule &s, const Transform3s &tf, OBB &bv)

template<>
COAL_DLLAPI void	computeBV< OBB, Cone > (const Cone &s, const Transform3s &tf, OBB &bv)

template<>
COAL_DLLAPI void	computeBV< OBB, ConvexBase > (const ConvexBase &s, const Transform3s &tf, OBB &bv)

template<>
COAL_DLLAPI void	computeBV< OBB, Cylinder > (const Cylinder &s, const Transform3s &tf, OBB &bv)

template<>
COAL_DLLAPI void	computeBV< OBB, Halfspace > (const Halfspace &s, const Transform3s &tf, OBB &bv)

template<>
COAL_DLLAPI void	computeBV< OBB, Plane > (const Plane &s, const Transform3s &tf, OBB &bv)

template<>
COAL_DLLAPI void	computeBV< OBB, Sphere > (const Sphere &s, const Transform3s &tf, OBB &bv)

template<>
COAL_DLLAPI void	computeBV< OBBRSS, Halfspace > (const Halfspace &s, const Transform3s &tf, OBBRSS &bv)

template<>
COAL_DLLAPI void	computeBV< OBBRSS, Plane > (const Plane &s, const Transform3s &tf, OBBRSS &bv)

template<>
COAL_DLLAPI void	computeBV< RSS, Halfspace > (const Halfspace &s, const Transform3s &tf, RSS &bv)

template<>
COAL_DLLAPI void	computeBV< RSS, Plane > (const Plane &s, const Transform3s &tf, RSS &bv)

static void	computeChildBV (const AABB &root_bv, unsigned int i, AABB &child_bv)
	compute the bounding volume of an octree node's i-th child More...

COAL_DLLAPI void	computeContactPatch (const CollisionGeometry o1, const Transform3s &tf1, const CollisionGeometry o2, const Transform3s &tf2, const CollisionResult &collision_result, const ContactPatchRequest &request, ContactPatchResult &result)
	Main contact patch computation interface. More...

COAL_DLLAPI void	computeContactPatch (const CollisionObject o1, const CollisionObject o2, const CollisionResult &collision_result, const ContactPatchRequest &request, ContactPatchResult &result)

template<typename T >
size_t	computeMemoryFootprint (const T &object)
	Returns the memory footpring of the input object. For POD objects, this function returns the result of sizeof(T) More...

template<bool InvertShapes, typename OtherShapeType , typename PlaneOrHalfspace >
void	computePatchPlaneOrHalfspace (const OtherShapeType &s1, const Transform3s &tf1, const PlaneOrHalfspace &s2, const Transform3s &tf2, const ContactPatchSolver *csolver, const Contact &contact, ContactPatch &contact_patch)
	Computes the contact patch between a Plane/Halfspace and another shape. More...

template<typename BV >
void	computeSplitValue_bvcenter (const BV &bv, CoalScalar &split_value)

template<typename BV >
void	computeSplitValue_mean (const BV &, Vec3s vertices, Triangle triangles, unsigned int *primitive_indices, unsigned int num_primitives, BVHModelType type, const Vec3s &split_vector, CoalScalar &split_value)

template<typename BV >
void	computeSplitValue_median (const BV &, Vec3s vertices, Triangle triangles, unsigned int *primitive_indices, unsigned int num_primitives, BVHModelType type, const Vec3s &split_vector, CoalScalar &split_value)

template<typename BV >
void	computeSplitVector (const BV &bv, Vec3s &split_vector)

template<>
void	computeSplitVector< kIOS > (const kIOS &bv, Vec3s &split_vector)

template<>
void	computeSplitVector< OBBRSS > (const OBBRSS &bv, Vec3s &split_vector)

void	computeVertices (const OBB &b, Vec3s vertices[8])
	Compute the 8 vertices of a OBB. More...

COAL_DLLAPI void	constructBox (const AABB &bv, Box &box, Transform3s &tf)
	construct a box shape (with a configuration) from a given bounding volume More...

COAL_DLLAPI void	constructBox (const AABB &bv, const Transform3s &tf_bv, Box &box, Transform3s &tf)

COAL_DLLAPI void	constructBox (const KDOP< 16 > &bv, Box &box, Transform3s &tf)

COAL_DLLAPI void	constructBox (const KDOP< 16 > &bv, const Transform3s &tf_bv, Box &box, Transform3s &tf)

COAL_DLLAPI void	constructBox (const KDOP< 18 > &bv, Box &box, Transform3s &tf)

COAL_DLLAPI void	constructBox (const KDOP< 18 > &bv, const Transform3s &tf_bv, Box &box, Transform3s &tf)

COAL_DLLAPI void	constructBox (const KDOP< 24 > &bv, Box &box, Transform3s &tf)

COAL_DLLAPI void	constructBox (const KDOP< 24 > &bv, const Transform3s &tf_bv, Box &box, Transform3s &tf)

COAL_DLLAPI void	constructBox (const kIOS &bv, Box &box, Transform3s &tf)

COAL_DLLAPI void	constructBox (const kIOS &bv, const Transform3s &tf_bv, Box &box, Transform3s &tf)

COAL_DLLAPI void	constructBox (const OBB &bv, Box &box, Transform3s &tf)

COAL_DLLAPI void	constructBox (const OBB &bv, const Transform3s &tf_bv, Box &box, Transform3s &tf)

COAL_DLLAPI void	constructBox (const OBBRSS &bv, Box &box, Transform3s &tf)

COAL_DLLAPI void	constructBox (const OBBRSS &bv, const Transform3s &tf_bv, Box &box, Transform3s &tf)

COAL_DLLAPI void	constructBox (const RSS &bv, Box &box, Transform3s &tf)

COAL_DLLAPI void	constructBox (const RSS &bv, const Transform3s &tf_bv, Box &box, Transform3s &tf)

void	constructContactPatchFrameFromContact (const Contact &contact, ContactPatch &contact_patch)
	Construct a frame from a `Contact`'s position and normal. Because both `Contact`'s position and normal are expressed in the world frame, this frame is also expressed w.r.t the world frame. The origin of the frame is `contact.pos` and the z-axis of the frame is `contact.normal`. More...

Matrix3s	constructOrthonormalBasisFromVector (const Vec3s &vec)
	Construct othonormal basis from vector. The z-axis is the normalized input vector. More...

Convex< Triangle >	constructPolytopeFromEllipsoid (const Ellipsoid &ellipsoid)
	We give an ellipsoid as input. The output is a 20 faces polytope which vertices belong to the original ellipsoid surface. The procedure is simple: we construct a icosahedron, see https://sinestesia.co/blog/tutorials/python-icospheres/ . We then apply an ellipsoid tranformation to each vertex of the icosahedron. More...

COAL_LOCAL void	contact_patch_function_not_implemented (const CollisionGeometry o1, const Transform3s &, const CollisionGeometry o2, const Transform3s &, const CollisionResult &, const ContactPatchSolver *, const ContactPatchRequest &, ContactPatchResult &)

template<typename BV1 , typename BV2 >
static void	convertBV (const BV1 &bv1, BV2 &bv2)
	Convert a bounding volume of type BV1 to bounding volume of type BV2 in identity configuration. More...

template<typename BV1 , typename BV2 >
static void	convertBV (const BV1 &bv1, const Transform3s &tf1, BV2 &bv2)
	Convert a bounding volume of type BV1 in configuration tf1 to bounding volume of type BV2 in identity configuration. More...

bool	defaultCollisionFunction (CollisionObject o1, CollisionObject o2, void *data)
	Provides a simple callback for the collision query in the BroadPhaseCollisionManager. It assumes the `data` parameter is non-null and points to an instance of CollisionData. It simply invokes the `collide()` method on the culled pair of geometries and stores the results in the data's CollisionResult instance. More...

bool	defaultDistanceFunction (CollisionObject o1, CollisionObject o2, void *data, CoalScalar &dist)
	Collision data for use with the DefaultContinuousCollisionFunction. It stores the collision request and the result given by the collision algorithm (and stores the conclusion of whether further evaluation of the broadphase collision manager has been deemed unnecessary). More...

COAL_DLLAPI CoalScalar	distance (const CollisionGeometry o1, const Transform3s &tf1, const CollisionGeometry o2, const Transform3s &tf2, const DistanceRequest &request, DistanceResult &result)

COAL_DLLAPI CoalScalar	distance (const CollisionObject o1, const CollisionObject o2, const DistanceRequest &request, DistanceResult &result)
	Main distance interface: given two collision objects, and the requirements for contacts, including whether return the nearest points, this function performs the distance between them. Return value is the minimum distance generated between the two objects. More...

COAL_DLLAPI CoalScalar	distance (const Matrix3s &R0, const Vec3s &T0, const kIOS &b1, const kIOS &b2, Vec3s P=NULL, Vec3s Q=NULL)
	Approximate distance between two kIOS bounding volumes. More...

CoalScalar	distance (const Matrix3s &R0, const Vec3s &T0, const OBBRSS &b1, const OBBRSS &b2, Vec3s P=NULL, Vec3s Q=NULL)
	Computate distance between two OBBRSS, b1 is in configuation (R0, T0) and b2 is in indentity; P and Q, is not NULL, returns the nearest points. More...

COAL_DLLAPI CoalScalar	distance (const Matrix3s &R0, const Vec3s &T0, const RSS &b1, const RSS &b2, Vec3s P=NULL, Vec3s Q=NULL)
	distance between two RSS bounding volumes P and Q (optional return values) are the closest points in the rectangles, not the RSS. But the direction P - Q is the correct direction for cloest points Notice that P and Q are both in the local frame of the first RSS (not global frame and not even the local frame of object 1) More...

void	distance (DistanceTraversalNodeBase node, BVHFrontList front_list, unsigned int qsize)

COAL_LOCAL CoalScalar	distance_function_not_implemented (const CollisionGeometry o1, const Transform3s &, const CollisionGeometry o2, const Transform3s &, const GJKSolver *, const DistanceRequest &, DistanceResult &)

void	distanceQueueRecurse (DistanceTraversalNodeBase node, unsigned int b1, unsigned int b2, BVHFrontList front_list, unsigned int qsize)

void	distanceRecurse (DistanceTraversalNodeBase node, unsigned int b1, unsigned int b2, BVHFrontList front_list)

template<typename Derived , typename Vector >
void	eigen (const Eigen::MatrixBase< Derived > &m, typename Derived::Scalar dout[3], Vector *vout)
	compute the eigen vector and eigen vector of a matrix. dout is the eigen values, vout is the eigen vectors More...

void	eulerToMatrix (CoalScalar a, CoalScalar b, CoalScalar c, Matrix3s &R)

COAL_DLLAPI CollisionGeometry *	extract (const CollisionGeometry *model, const Transform3s &pose, const AABB &aabb)

template<>
void	fit (Vec3s *ps, unsigned int n, AABB &bv)

template<typename BV >
void	fit (Vec3s *ps, unsigned int n, BV &bv)
	Compute a bounding volume that fits a set of n points. More...

template<>
void	fit (Vec3s *ps, unsigned int n, kIOS &bv)

template<>
void	fit (Vec3s *ps, unsigned int n, OBB &bv)

template<>
void	fit (Vec3s *ps, unsigned int n, OBBRSS &bv)

template<>
void	fit (Vec3s *ps, unsigned int n, RSS &bv)

template<>
void	fit< AABB > (Vec3s *ps, unsigned int n, AABB &bv)

template<>
void	fit< kIOS > (Vec3s *ps, unsigned int n, kIOS &bv)

template<>
void	fit< OBB > (Vec3s *ps, unsigned int n, OBB &bv)

template<>
void	fit< OBBRSS > (Vec3s *ps, unsigned int n, OBBRSS &bv)

template<>
void	fit< RSS > (Vec3s *ps, unsigned int n, RSS &bv)

template<typename Derived >
Quatf	fromAxisAngle (const Eigen::MatrixBase< Derived > &axis, CoalScalar angle)

template<typename BV >
void	generateBVHModel (BVHModel< BV > &model, const Box &shape, const Transform3s &pose)
	Generate BVH model from box. More...

template<typename BV >
void	generateBVHModel (BVHModel< BV > &model, const Cone &shape, const Transform3s &pose, unsigned int tot, unsigned int h_num)
	Generate BVH model from cone, given the number of segments along circle and the number of segments along axis. More...

template<typename BV >
void	generateBVHModel (BVHModel< BV > &model, const Cone &shape, const Transform3s &pose, unsigned int tot_for_unit_cone)
	Generate BVH model from cone Difference from generateBVHModel: is that it gives the circle split number tot for a cylinder with unit radius. For cone with larger radius, the number of circle split number is r * tot. More...

template<typename BV >
void	generateBVHModel (BVHModel< BV > &model, const Cylinder &shape, const Transform3s &pose, unsigned int tot, unsigned int h_num)
	Generate BVH model from cylinder, given the number of segments along circle and the number of segments along axis. More...

template<typename BV >
void	generateBVHModel (BVHModel< BV > &model, const Cylinder &shape, const Transform3s &pose, unsigned int tot_for_unit_cylinder)
	Generate BVH model from cylinder Difference from generateBVHModel: is that it gives the circle split number tot for a cylinder with unit radius. For cylinder with larger radius, the number of circle split number is r * tot. More...

template<typename BV >
void	generateBVHModel (BVHModel< BV > &model, const Sphere &shape, const Transform3s &pose, unsigned int n_faces_for_unit_sphere)
	Generate BVH model from sphere The difference between generateBVHModel is that it gives the number of triangles faces N for a sphere with unit radius. For sphere of radius r, then the number of triangles is r * r * N so that the area represented by a single triangle is approximately the same.s. More...

template<typename BV >
void	generateBVHModel (BVHModel< BV > &model, const Sphere &shape, const Transform3s &pose, unsigned int seg, unsigned int ring)
	Generate BVH model from sphere, given the number of segments along longitude and number of rings along latitude. More...

template<typename Derived1 , typename Derived2 , typename Derived3 >
void	generateCoordinateSystem (const Eigen::MatrixBase< Derived1 > &_w, const Eigen::MatrixBase< Derived2 > &_u, const Eigen::MatrixBase< Derived3 > &_v)

void	generateEnvironments (std::vector< CollisionObject * > &env, CoalScalar env_scale, std::size_t n)

void	generateEnvironmentsMesh (std::vector< CollisionObject * > &env, CoalScalar env_scale, std::size_t n)

void	generateRandomTransform (CoalScalar extents[6], Transform3s &transform)
	Generate one random transform whose translation is constrained by extents and rotation without constraints. The translation is (x, y, z), and extents[0] <= x <= extents[3], extents[1] <= y <= extents[4], extents[2] <= z <= extents[5]. More...

void	generateRandomTransforms (CoalScalar extents[6], CoalScalar delta_trans[3], CoalScalar delta_rot, std::vector< Transform3s > &transforms, std::vector< Transform3s > &transforms2, std::size_t n)
	Generate n random transforms whose translations are constrained by extents. Also generate another transforms2 which have additional random translation & rotation to the transforms generated. More...

void	generateRandomTransforms (CoalScalar extents[6], std::vector< Transform3s > &transforms, std::size_t n)
	Generate n random transforms whose translations are constrained by extents. More...

const char *	get_node_type_name (NODE_TYPE node_type)
	Returns the name associated to a NODE_TYPE. More...

const char *	get_object_type_name (OBJECT_TYPE object_type)
	Returns the name associated to a OBJECT_TYPE. More...

CollisionFunctionMatrix &	getCollisionFunctionLookTable ()

ContactPatchFunctionMatrix &	getContactPatchFunctionLookTable ()

COAL_DLLAPI void	getCovariance (Vec3s ps, Vec3s ps2, Triangle ts, unsigned int indices, unsigned int n, Matrix3s &M)
	Compute the covariance matrix for a set or subset of points. if ts = null, then indices refer to points directly; otherwise refer to triangles. More...

DistanceFunctionMatrix &	getDistanceFunctionLookTable ()

template<short N>
void	getDistances (const Vec3s &, CoalScalar *)
	Compute the distances to planes with normals from KDOP vectors except those of AABB face planes. More...

template<>
void	getDistances< 5 > (const Vec3s &p, CoalScalar *d)
	Specification of getDistances. More...

template<>
void	getDistances< 6 > (const Vec3s &p, CoalScalar *d)

template<>
void	getDistances< 9 > (const Vec3s &p, CoalScalar *d)

COAL_DLLAPI void	getExtentAndCenter (Vec3s ps, Vec3s ps2, Triangle ts, unsigned int indices, unsigned int n, Matrix3s &axes, Vec3s &center, Vec3s &extent)
	Compute the bounding volume extent and center for a set or subset of points, given the BV axises. More...

static void	getExtentAndCenter_mesh (Vec3s ps, Vec3s ps2, Triangle ts, unsigned int indices, unsigned int n, Matrix3s &axes, Vec3s &center, Vec3s &extent)
	Compute the bounding volume extent and center for a set or subset of points. The bounding volume axes are known. More...

static void	getExtentAndCenter_pointcloud (Vec3s ps, Vec3s ps2, unsigned int *indices, unsigned int n, Matrix3s &axes, Vec3s &center, Vec3s &extent)
	Compute the bounding volume extent and center for a set or subset of points. The bounding volume axes are known. More...

std::size_t	getNbRun (const int &argc, char const const argv, std::size_t defaultValue)
	Get the argument –nb-run from argv. More...

std::string	getNodeTypeName (NODE_TYPE node_type)

COAL_DLLAPI void	getRadiusAndOriginAndRectangleSize (Vec3s ps, Vec3s ps2, Triangle ts, unsigned int indices, unsigned int n, const Matrix3s &axes, Vec3s &origin, CoalScalar l[2], CoalScalar &r)
	Compute the RSS bounding volume parameters: radius, rectangle size and the origin, given the BV axises. More...

bool	inVoronoi (CoalScalar a, CoalScalar b, CoalScalar Anorm_dot_B, CoalScalar Anorm_dot_T, CoalScalar A_dot_B, CoalScalar A_dot_T, CoalScalar B_dot_T)
	Returns whether the nearest point on rectangle edge Pb + Bu, 0 <= u <= b, to the rectangle edge, Pa + At, 0 <= t <= a, is within the half space determined by the point Pa and the direction Anorm. A,B, and Anorm are unit vectors. T is the vector between Pa and Pb. More...

template<typename Derived , typename OtherDerived >
bool	isEqual (const Eigen::MatrixBase< Derived > &lhs, const Eigen::MatrixBase< OtherDerived > &rhs, const CoalScalar tol=std::numeric_limits< CoalScalar >::epsilon() *100)

void	loadOBJFile (const char *filename, std::vector< Vec3s > &points, std::vector< Triangle > &triangles)
	Load an obj mesh file. More...

template<class BoundingVolume >
void	loadPolyhedronFromResource (const std::string &resource_path, const coal::Vec3s &scale, const shared_ptr< BVHModel< BoundingVolume > > &polyhedron)
	Read a mesh file and convert it to a polyhedral mesh. More...

COAL_DLLAPI OcTreePtr_t	makeOctree (const Eigen::Matrix< CoalScalar, Eigen::Dynamic, 3 > &point_cloud, const CoalScalar resolution)
	Build an OcTree from a point cloud and a given resolution. More...

Quatf	makeQuat (CoalScalar w, CoalScalar x, CoalScalar y, CoalScalar z)

Box	makeRandomBox (CoalScalar min_size, CoalScalar max_size)

Capsule	makeRandomCapsule (std::array< CoalScalar, 2 > min_size, std::array< CoalScalar, 2 > max_size)

Cone	makeRandomCone (std::array< CoalScalar, 2 > min_size, std::array< CoalScalar, 2 > max_size)

Convex< Triangle >	makeRandomConvex (CoalScalar min_size, CoalScalar max_size)

Cylinder	makeRandomCylinder (std::array< CoalScalar, 2 > min_size, std::array< CoalScalar, 2 > max_size)

Ellipsoid	makeRandomEllipsoid (CoalScalar min_size, CoalScalar max_size)

std::shared_ptr< ShapeBase >	makeRandomGeometry (NODE_TYPE node_type)

Halfspace	makeRandomHalfspace (CoalScalar min_size, CoalScalar max_size)

Plane	makeRandomPlane (CoalScalar min_size, CoalScalar max_size)

Sphere	makeRandomSphere (CoalScalar min_size, CoalScalar max_size)

COAL_DLLAPI CoalScalar	maximumDistance (Vec3s ps, Vec3s ps2, Triangle ts, unsigned int indices, unsigned int n, const Vec3s &query)
	Compute the maximum distance from a given center point to a point cloud. More...

static CoalScalar	maximumDistance_mesh (Vec3s ps, Vec3s ps2, Triangle ts, unsigned int indices, unsigned int n, const Vec3s &query)

static CoalScalar	maximumDistance_pointcloud (Vec3s ps, Vec3s ps2, unsigned int *indices, unsigned int n, const Vec3s &query)

OBB	merge_largedist (const OBB &b1, const OBB &b2)
	OBB merge method when the centers of two smaller OBB are far away. More...

OBB	merge_smalldist (const OBB &b1, const OBB &b2)
	OBB merge method when the centers of two smaller OBB are close. More...

void	minmax (CoalScalar a, CoalScalar b, CoalScalar &minv, CoalScalar &maxv)
	Find the smaller and larger one of two values. More...

void	minmax (CoalScalar p, CoalScalar &minv, CoalScalar &maxv)
	Merge the interval [minv, maxv] and value p/. More...

COAL_DLLAPI bool	obbDisjoint (const Matrix3s &B, const Vec3s &T, const Vec3s &a, const Vec3s &b)

bool	obbDisjointAndLowerBoundDistance (const Matrix3s &B, const Vec3s &T, const Vec3s &a_, const Vec3s &b_, const CollisionRequest &request, CoalScalar &squaredLowerBoundDistance)

CollisionRequestFlag	operator& (CollisionRequestFlag a, CollisionRequestFlag b)

HFNodeBase::FaceOrientation	operator& (HFNodeBase::FaceOrientation a, HFNodeBase::FaceOrientation b)

int	operator& (int a, HFNodeBase::FaceOrientation b)

CollisionRequestFlag &	operator&= (CollisionRequestFlag &a, CollisionRequestFlag b)

static std::ostream &	operator<< (std::ostream &o, const Quatf &q)

std::ostream &	operator<< (std::ostream &os, const Box &b)

std::ostream &	operator<< (std::ostream &os, const ShapeBase &)

std::ostream &	operator<< (std::ostream &os, const Transform3s &tf)

CollisionRequestFlag	operator^ (CollisionRequestFlag a, CollisionRequestFlag b)

CollisionRequestFlag &	operator^= (CollisionRequestFlag &a, CollisionRequestFlag b)

CollisionRequestFlag	operator\| (CollisionRequestFlag a, CollisionRequestFlag b)

CollisionRequestFlag &	operator\|= (CollisionRequestFlag &a, CollisionRequestFlag b)

CollisionRequestFlag	operator~ (CollisionRequestFlag a)

template<short N>
bool	overlap (const Matrix3s &, const Vec3s &, const KDOP< N > &, const KDOP< N > &)

template<short N>
bool	overlap (const Matrix3s &, const Vec3s &, const KDOP< N > &, const KDOP< N > &, const CollisionRequest &, CoalScalar &)

COAL_DLLAPI bool	overlap (const Matrix3s &R0, const Vec3s &T0, const AABB &b1, const AABB &b2)
	Check collision between two aabbs, b1 is in configuration (R0, T0) and b2 is in identity. More...

COAL_DLLAPI bool	overlap (const Matrix3s &R0, const Vec3s &T0, const AABB &b1, const AABB &b2, const CollisionRequest &request, CoalScalar &sqrDistLowerBound)
	Check collision between two aabbs, b1 is in configuration (R0, T0) and b2 is in identity. More...

COAL_DLLAPI bool	overlap (const Matrix3s &R0, const Vec3s &T0, const kIOS &b1, const kIOS &b2)
	Check collision between two kIOSs, b1 is in configuration (R0, T0) and b2 is in identity. More...

COAL_DLLAPI bool	overlap (const Matrix3s &R0, const Vec3s &T0, const kIOS &b1, const kIOS &b2, const CollisionRequest &request, CoalScalar &sqrDistLowerBound)
	Check collision between two kIOSs, b1 is in configuration (R0, T0) and b2 is in identity. More...

COAL_DLLAPI bool	overlap (const Matrix3s &R0, const Vec3s &T0, const OBB &b1, const OBB &b2)
	Check collision between two obbs, b1 is in configuration (R0, T0) and b2 is in identity. More...

COAL_DLLAPI bool	overlap (const Matrix3s &R0, const Vec3s &T0, const OBB &b1, const OBB &b2, const CollisionRequest &request, CoalScalar &sqrDistLowerBound)
	Check collision between two obbs, b1 is in configuration (R0, T0) and b2 is in identity. More...

bool	overlap (const Matrix3s &R0, const Vec3s &T0, const OBBRSS &b1, const OBBRSS &b2)
	Check collision between two OBBRSS, b1 is in configuration (R0, T0) and b2 is in indentity. More...

bool	overlap (const Matrix3s &R0, const Vec3s &T0, const OBBRSS &b1, const OBBRSS &b2, const CollisionRequest &request, CoalScalar &sqrDistLowerBound)

COAL_DLLAPI bool	overlap (const Matrix3s &R0, const Vec3s &T0, const RSS &b1, const RSS &b2)
	Check collision between two RSSs, b1 is in configuration (R0, T0) and b2 is in identity. More...

COAL_DLLAPI bool	overlap (const Matrix3s &R0, const Vec3s &T0, const RSS &b1, const RSS &b2, const CollisionRequest &request, CoalScalar &sqrDistLowerBound)
	Check collision between two RSSs, b1 is in configuration (R0, T0) and b2 is in identity. More...

void	propagateBVHFrontListCollisionRecurse (CollisionTraversalNodeBase node, const CollisionRequest &, CollisionResult &result, BVHFrontList front_list)

CoalScalar	rand_interval (CoalScalar rmin, CoalScalar rmax)

CoalScalar	rectDistance (const Matrix3s &Rab, Vec3s const &Tab, const CoalScalar a[2], const CoalScalar b[2], Vec3s P=NULL, Vec3s Q=NULL)
	Distance between two oriented rectangles; P and Q (optional return values) are the closest points in the rectangles, both are in the local frame of the first rectangle. More...

template<typename Derived , typename OtherDerived >
void	relativeTransform (const Eigen::MatrixBase< Derived > &R1, const Eigen::MatrixBase< OtherDerived > &t1, const Eigen::MatrixBase< Derived > &R2, const Eigen::MatrixBase< OtherDerived > &t2, const Eigen::MatrixBase< Derived > &R, const Eigen::MatrixBase< OtherDerived > &t)

void	relativeTransform (const Transform3s &tf1, const Transform3s &tf2, Transform3s &tf)

void	relativeTransform2 (const Transform3s &tf1, const Transform3s &tf2, Transform3s &tf)

void	reorderTriangle (const Convex< Triangle > *convex_tri, Triangle &tri)

static AABB	rotate (const AABB &aabb, const Matrix3s &R)

void	saveOBJFile (const char *filename, std::vector< Vec3s > &points, std::vector< Triangle > &triangles)

void	segCoords (CoalScalar &t, CoalScalar &u, CoalScalar a, CoalScalar b, CoalScalar A_dot_B, CoalScalar A_dot_T, CoalScalar B_dot_T)
	Finds the parameters t & u corresponding to the two closest points on a pair of line segments. The first segment is defined as Pa + At, 0 <= t <= a, where "Pa" is one endpoint of the segment, "A" is a unit vector pointing to the other endpoint, and t is a scalar that produces all the points between the two endpoints. Since "A" is a unit vector, "a" is the segment's length. The second segment is defined as Pb + Bu, 0 <= u <= b. Many of the terms needed by the algorithm are already computed for other purposes,so we just pass these terms into the function instead of complete specifications of each segment. "T" in the dot products is the vector betweeen Pa and Pb. Reference: "On fast computation of distance between line segments." Vladimir J. Lumelsky, in Information Processing Letters, no. 21, pages 55-61, 1985. More...

template<typename ShapeType1 , typename ShapeType2 >
void	ShapeShapeContactPatch (const CollisionGeometry o1, const Transform3s &tf1, const CollisionGeometry o2, const Transform3s &tf2, const CollisionResult &collision_result, const ContactPatchSolver *csolver, const ContactPatchRequest &request, ContactPatchResult &result)

void	toEllipsoid (Vec3s &point, const Ellipsoid &ellipsoid)

void	toSphere (Vec3s &point)
	Takes a point and projects it onto the surface of the unit sphere. More...

COAL_DLLAPI Halfspace	transform (const Halfspace &a, const Transform3s &tf)

COAL_DLLAPI Plane	transform (const Plane &a, const Transform3s &tf)

COAL_DLLAPI std::array< Halfspace, 2 >	transformToHalfspaces (const Plane &a, const Transform3s &tf)

static AABB	translate (const AABB &aabb, const Vec3s &t)
	translate the center of AABB by t More...

template<short N>
COAL_DLLAPI KDOP< N >	translate (const KDOP< N > &bv, const Vec3s &t)
	translate the KDOP BV More...

template<short N>
KDOP< N >	translate (const KDOP< N > &bv, const Vec3s &t)
	translate the KDOP BV More...

COAL_DLLAPI kIOS	translate (const kIOS &bv, const Vec3s &t)
	Translate the kIOS BV. More...

COAL_DLLAPI OBB	translate (const OBB &bv, const Vec3s &t)
	Translate the OBB bv. More...

OBBRSS	translate (const OBBRSS &bv, const Vec3s &t)

RSS	translate (const RSS &bv, const Vec3s &t)

template KDOP< 16 >	translate< 16 > (const KDOP< 16 > &, const Vec3s &)

template KDOP< 18 >	translate< 18 > (const KDOP< 18 > &, const Vec3s &)

template KDOP< 24 >	translate< 24 > (const KDOP< 24 > &, const Vec3s &)

template<typename Derived >
static Derived::Scalar	triple (const Eigen::MatrixBase< Derived > &x, const Eigen::MatrixBase< Derived > &y, const Eigen::MatrixBase< Derived > &z)

Quatf	uniformRandomQuaternion ()
	Uniformly random quaternion sphere. Code taken from Pinocchio (https://github.com/stack-of-tasks/pinocchio). More...

void	updateFrontList (BVHFrontList *front_list, unsigned int b1, unsigned int b2)
	Add new front node into the front list. More...

Variables
static const double	cosA = sqrt(3.0) / 2.0

constexpr size_t	EPA_DEFAULT_MAX_ITERATIONS = 64

constexpr CoalScalar	EPA_DEFAULT_TOLERANCE = 1e-6

constexpr CoalScalar	EPA_MINIMUM_TOLERANCE = 1e-6

constexpr size_t	GJK_DEFAULT_MAX_ITERATIONS = 128
	GJK. More...

constexpr CoalScalar	GJK_DEFAULT_TOLERANCE = 1e-6

constexpr CoalScalar	GJK_MINIMUM_TOLERANCE = 1e-6

static const double	invSinA = 2

static const double	kIOS_RATIO = 1.5

const Eigen::IOFormat	pyfmt

COAL_DEPRECATED typedef Eigen::Quaternion< CoalScalar >	Quaternion3f

const Vec3s	UnitX = Vec3s(1, 0, 0)

const Vec3s	UnitY = Vec3s(0, 1, 0)

const Vec3s	UnitZ = Vec3s(0, 0, 1)

const Eigen::IOFormat	vfmt

Detailed Description

Main namespace.

Author: Jia Pan; Justin Carpentier (justi.nosp@m.n.ca.nosp@m.rpent.nosp@m.ier@.nosp@m.inria.nosp@m..fr); Sean Curtis (sean@.nosp@m.tri..nosp@m.globa.nosp@m.l); Justin Carpentier (justi.nosp@m.n.ca.nosp@m.rpent.nosp@m.ier@.nosp@m.inria.nosp@m..fr); Jia Pan; Jia Pan; Louis Montaut; Justin Carpentier; Joseph Mirabel

Authors: Jia Pan, Florent Lamiraux, Josef Mirabel, Louis Montaut

Author: Jia Pan, Florent Lamiraux

This file defines different macros used to characterize the default behavior of the narrowphase algorithms GJK and EPA.

Author: Sean Curtis (sean@.nosp@m.tri..nosp@m.globa.nosp@m.l); Florent Lamiraux

Authors: Louis Montaut

Author: Lucile Remigy, Joseph Mirabel

Typedef Documentation

◆ AngleAxis

typedef Eigen::AngleAxis<CoalScalar> coal::AngleAxis

Definition at line 128 of file utility.h.

◆ BroadPhaseContinuousCollisionManagerd

using coal::BroadPhaseContinuousCollisionManagerd = typedef BroadPhaseContinuousCollisionManager<CoalScalar>

Definition at line 137 of file coal/broadphase/broadphase_continuous_collision_manager.h.

◆ BroadPhaseContinuousCollisionManagerf

using coal::BroadPhaseContinuousCollisionManagerf = typedef BroadPhaseContinuousCollisionManager<float>

Definition at line 135 of file coal/broadphase/broadphase_continuous_collision_manager.h.

◆ BVHFrontList

typedef std::list<BVHFrontNode> coal::BVHFrontList

BVH front list is a list of front nodes.

Definition at line 66 of file coal/BVH/BVH_front.h.

◆ BVHModelPtr_t

typedef shared_ptr<BVHModelBase> coal::BVHModelPtr_t

Definition at line 141 of file include/coal/fwd.hh.

◆ CoalScalar

typedef double coal::CoalScalar

Definition at line 76 of file coal/data_types.h.

◆ CollisionGeometryConstPtr_t

typedef shared_ptr<const CollisionGeometry> coal::CollisionGeometryConstPtr_t

Definition at line 136 of file include/coal/fwd.hh.

◆ CollisionGeometryPtr_t

typedef shared_ptr<CollisionGeometry> coal::CollisionGeometryPtr_t

Definition at line 134 of file include/coal/fwd.hh.

◆ CollisionObjectConstPtr_t

typedef shared_ptr<const CollisionObject> coal::CollisionObjectConstPtr_t

Definition at line 133 of file include/coal/fwd.hh.

◆ CollisionObjectPtr_t

typedef shared_ptr<CollisionObject> coal::CollisionObjectPtr_t

Definition at line 131 of file include/coal/fwd.hh.

◆ ContinuousCollisionCallBack

template<typename S >

using coal::ContinuousCollisionCallBack = typedef bool (*)(ContinuousCollisionObject* o1, ContinuousCollisionObject* o2, void* cdata)

Callback for continuous collision between two objects. Return value is whether can stop now.

Definition at line 52 of file coal/broadphase/broadphase_continuous_collision_manager.h.

◆ ContinuousDistanceCallBack

template<typename S >

using coal::ContinuousDistanceCallBack = typedef bool (*)(ContinuousCollisionObject* o1, ContinuousCollisionObject* o2, S& dist)

Callback for continuous distance between two objects, Return value is whether can stop now, also return the minimum distance till now.

Definition at line 59 of file coal/broadphase/broadphase_continuous_collision_manager.h.

◆ Matrix3s

typedef Eigen::Matrix<CoalScalar, 3, 3> coal::Matrix3s

Definition at line 81 of file coal/data_types.h.

◆ MatrixX2s

typedef Eigen::Matrix<CoalScalar, Eigen::Dynamic, 2, Eigen::RowMajor> coal::MatrixX2s

Definition at line 83 of file coal/data_types.h.

◆ Matrixx3i

typedef Eigen::Matrix<Eigen::DenseIndex, Eigen::Dynamic, 3, Eigen::RowMajor> coal::Matrixx3i

Definition at line 85 of file coal/data_types.h.

◆ MatrixX3s

typedef Eigen::Matrix<CoalScalar, Eigen::Dynamic, 3, Eigen::RowMajor> coal::MatrixX3s

Definition at line 82 of file coal/data_types.h.

◆ MatrixXs

typedef Eigen::Matrix<CoalScalar, Eigen::Dynamic, Eigen::Dynamic> coal::MatrixXs

Definition at line 86 of file coal/data_types.h.

◆ OcTreeConstPtr_t

typedef shared_ptr<const OcTree> coal::OcTreeConstPtr_t

Definition at line 146 of file include/coal/fwd.hh.

◆ OcTreePtr_t

typedef shared_ptr<OcTree> coal::OcTreePtr_t

Definition at line 144 of file include/coal/fwd.hh.

◆ Quatf

typedef Eigen::Quaternion<CoalScalar> coal::Quatf

Definition at line 47 of file coal/math/transform.h.

◆ support_func_guess_t

typedef Eigen::Vector2i coal::support_func_guess_t

Definition at line 87 of file coal/data_types.h.

◆ SupportSet

using coal::SupportSet = typedef ContactPatch

Structure used for internal computations. A support set and a contact patch can be represented by the same structure. In fact, a contact patch is the intersection of two support sets, one with PatchDirection::DEFAULT and one with PatchDirection::INVERTED.

Note: A support set with DEFAULT direction is the support set of a shape in the direction given by +n, where n is the z-axis of the frame's patch rotation. An INVERTED support set is the support set of a shape in the direction -n.

Definition at line 721 of file coal/collision_data.h.

◆ Vec2s

typedef Eigen::Matrix<CoalScalar, 2, 1> coal::Vec2s

Definition at line 78 of file coal/data_types.h.

◆ Vec3s

typedef Eigen::Matrix<CoalScalar, 3, 1> coal::Vec3s

Definition at line 77 of file coal/data_types.h.

◆ Vec6s

typedef Eigen::Matrix<CoalScalar, 6, 1> coal::Vec6s

Definition at line 79 of file coal/data_types.h.

◆ VecXs

typedef Eigen::Matrix<CoalScalar, Eigen::Dynamic, 1> coal::VecXs

Definition at line 80 of file coal/data_types.h.

Enumeration Type Documentation

◆ BVHBuildState

enum coal::BVHBuildState

States for BVH construction empty->begun->processed ->replace_begun->processed -> ...... | |-> update_begun -> updated -> .....

Enumerator
BVH_BUILD_STATE_EMPTY
BVH_BUILD_STATE_BEGUN	empty state, immediately after constructor
BVH_BUILD_STATE_PROCESSED	after beginModel(), state for adding geometry primitives
BVH_BUILD_STATE_UPDATE_BEGUN	after tree has been build, ready for cd use
BVH_BUILD_STATE_UPDATED	after beginUpdateModel(), state for updating geometry primitives
BVH_BUILD_STATE_REPLACE_BEGUN	after tree has been build for updated geometry, ready for ccd use after beginReplaceModel(), state for replacing geometry primitives

Definition at line 49 of file coal/BVH/BVH_internal.h.

◆ BVHModelType

enum coal::BVHModelType

BVH model type.

Enumerator

BVH_MODEL_UNKNOWN

BVH_MODEL_TRIANGLES

unknown model type

BVH_MODEL_POINTCLOUD

triangle model

point cloud model

Definition at line 79 of file coal/BVH/BVH_internal.h.

◆ BVHReturnCode

enum coal::BVHReturnCode

Error code for BVH.

Enumerator
BVH_OK
BVH_ERR_MODEL_OUT_OF_MEMORY	BVH is valid.
BVH_ERR_BUILD_OUT_OF_SEQUENCE	Cannot allocate memory for vertices and triangles.
BVH_ERR_BUILD_EMPTY_MODEL	BVH construction does not follow correct sequence.
BVH_ERR_BUILD_EMPTY_PREVIOUS_FRAME	BVH geometry is not prepared.
BVH_ERR_UNSUPPORTED_FUNCTION	BVH geometry in previous frame is not prepared.
BVH_ERR_UNUPDATED_MODEL	BVH funtion is not supported.
BVH_ERR_INCORRECT_DATA	BVH model update failed.
BVH_ERR_UNKNOWN	BVH data is not valid.

Definition at line 63 of file coal/BVH/BVH_internal.h.

◆ CollisionRequestFlag

enum coal::CollisionRequestFlag

flag declaration for specifying required params in CollisionResult

Enumerator
CONTACT
DISTANCE_LOWER_BOUND
NO_REQUEST

Definition at line 304 of file coal/collision_data.h.

◆ GJKConvergenceCriterion

enum coal::GJKConvergenceCriterion

Which convergence criterion is used to stop the algorithm (when the shapes are not in collision). (default) VDB: Van den Bergen (A Fast and Robust GJK Implementation, 1999) DG: duality-gap, as used in the Frank-Wolfe and the vanilla 1988 GJK algorithms Hybrid: a mix between VDB and DG.

Enumerator
Default
DualityGap
Hybrid

Definition at line 104 of file coal/data_types.h.

◆ GJKConvergenceCriterionType

enum coal::GJKConvergenceCriterionType

Wether the convergence criterion is scaled on the norm of the solution or not.

Enumerator
Relative
Absolute

Definition at line 108 of file coal/data_types.h.

◆ GJKInitialGuess

enum coal::GJKInitialGuess

Initial guess to use for the GJK algorithm DefaultGuess: Vec3s(1, 0, 0) CachedGuess: previous vector found by GJK or guess cached by the user BoundingVolumeGuess: guess using the centers of the shapes' AABB WARNING: to use BoundingVolumeGuess, computeLocalAABB must have been called on the two shapes.

Enumerator
DefaultGuess
CachedGuess
BoundingVolumeGuess

Definition at line 95 of file coal/data_types.h.

◆ GJKVariant

enum coal::GJKVariant

Variant to use for the GJK algorithm.

Enumerator
DefaultGJK
PolyakAcceleration
NesterovAcceleration

Definition at line 98 of file coal/data_types.h.

◆ NODE_TYPE

enum coal::NODE_TYPE

traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS, KDOP16, KDOP18, kDOP24), basic shape (box, sphere, ellipsoid, capsule, cone, cylinder, convex, plane, triangle), and octree

Enumerator
BV_UNKNOWN
BV_AABB
BV_OBB
BV_RSS
BV_kIOS
BV_OBBRSS
BV_KDOP16
BV_KDOP18
BV_KDOP24
GEOM_BOX
GEOM_SPHERE
GEOM_CAPSULE
GEOM_CONE
GEOM_CYLINDER
GEOM_CONVEX
GEOM_PLANE
GEOM_HALFSPACE
GEOM_TRIANGLE
GEOM_OCTREE
GEOM_ELLIPSOID
HF_AABB
HF_OBBRSS
NODE_COUNT

Definition at line 64 of file coal/collision_object.h.

◆ OBJECT_TYPE

enum coal::OBJECT_TYPE

object type: BVH (mesh, points), basic geometry, octree

Enumerator
OT_UNKNOWN
OT_BVH
OT_GEOM
OT_OCTREE
OT_HFIELD
OT_COUNT

Definition at line 52 of file coal/collision_object.h.

◆ SplitMethodType

enum coal::SplitMethodType

Three types of split algorithms are provided in FCL as default.

Enumerator
SPLIT_METHOD_MEAN
SPLIT_METHOD_MEDIAN
SPLIT_METHOD_BV_CENTER

Definition at line 50 of file coal/internal/BV_splitter.h.

Function Documentation

◆ _load()

template<typename BV >

BVHModelPtr_t coal::_load	(	const std::string &	filename,
		const Vec3s &	scale
	)

Definition at line 61 of file loader.cpp.

◆ axisFromEigen()

static void coal::axisFromEigen	(	Vec3s	eigenV[3],
		CoalScalar	eigenS[3],
		Matrix3s &	axes
	)

inlinestatic

Definition at line 50 of file BV_fitter.cpp.

◆ buildBox()

Convex< Quadrilateral > coal::buildBox	(	CoalScalar	l,
		CoalScalar	w,
		CoalScalar	d
	)

Constructs a box with halfsides (l, w, d), centered around 0. The box is 2*l wide on the x-axis, 2*w wide on the y-axis and 2*d wide on the z-axis.

Definition at line 460 of file utility.cpp.

◆ BVHCollide() [1/2]

template<typename T_BVH >

std::size_t coal::BVHCollide	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const CollisionRequest &	request,
		CollisionResult &	result
	)

Definition at line 207 of file collision_func_matrix.cpp.

◆ BVHCollide() [2/2]

template<typename T_BVH >

std::size_t coal::BVHCollide	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const CollisionRequest &	request,
		CollisionResult &	result
	)

Definition at line 269 of file collision_func_matrix.cpp.

◆ BVHCollide< kIOS >()

template<>

std::size_t coal::BVHCollide< kIOS >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const CollisionRequest &	request,
		CollisionResult &	result
	)

Definition at line 258 of file collision_func_matrix.cpp.

◆ BVHCollide< OBB >()

template<>

std::size_t coal::BVHCollide< OBB >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const CollisionRequest &	request,
		CollisionResult &	result
	)

Definition at line 238 of file collision_func_matrix.cpp.

◆ BVHCollide< OBBRSS >()

template<>

std::size_t coal::BVHCollide< OBBRSS >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const CollisionRequest &	request,
		CollisionResult &	result
	)

Definition at line 247 of file collision_func_matrix.cpp.

◆ BVHDistance() [1/2]

template<typename T_BVH >

CoalScalar coal::BVHDistance	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Definition at line 203 of file distance_func_matrix.cpp.

◆ BVHDistance() [2/2]

template<typename T_BVH >

CoalScalar coal::BVHDistance	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Definition at line 276 of file distance_func_matrix.cpp.

◆ BVHDistance< kIOS >()

template<>

CoalScalar coal::BVHDistance< kIOS >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Definition at line 254 of file distance_func_matrix.cpp.

◆ BVHDistance< OBBRSS >()

template<>

CoalScalar coal::BVHDistance< OBBRSS >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Definition at line 265 of file distance_func_matrix.cpp.

◆ BVHDistance< RSS >()

template<>

CoalScalar coal::BVHDistance< RSS >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Definition at line 245 of file distance_func_matrix.cpp.

◆ BVHExtract() [1/9]

template<>

BVHModel< AABB > * coal::BVHExtract	(	const BVHModel< AABB > &	model,
		const Transform3s &	pose,
		const AABB &	aabb
	)

Definition at line 147 of file BVH_utility.cpp.

◆ BVHExtract() [2/9]

template<typename BV >

COAL_DLLAPI BVHModel<BV>* coal::BVHExtract	(	const BVHModel< BV > &	model,
		const Transform3s &	pose,
		const AABB &	aabb
	)

Extract the part of the BVHModel that is inside an AABB. A triangle in collision with the AABB is considered inside.

Definition at line 47 of file BVH_utility.cpp.

◆ BVHExtract() [3/9]

template<>

BVHModel< KDOP< 16 > > * coal::BVHExtract	(	const BVHModel< KDOP< 16 > > &	model,
		const Transform3s &	pose,
		const AABB &	aabb
	)

Definition at line 167 of file BVH_utility.cpp.

◆ BVHExtract() [4/9]

template<>

BVHModel< KDOP< 18 > > * coal::BVHExtract	(	const BVHModel< KDOP< 18 > > &	model,
		const Transform3s &	pose,
		const AABB &	aabb
	)

Definition at line 172 of file BVH_utility.cpp.

◆ BVHExtract() [5/9]

template<>

BVHModel< KDOP< 24 > > * coal::BVHExtract	(	const BVHModel< KDOP< 24 > > &	model,
		const Transform3s &	pose,
		const AABB &	aabb
	)

Definition at line 177 of file BVH_utility.cpp.

◆ BVHExtract() [6/9]

template<>

BVHModel< kIOS > * coal::BVHExtract	(	const BVHModel< kIOS > &	model,
		const Transform3s &	pose,
		const AABB &	aabb
	)

Definition at line 157 of file BVH_utility.cpp.

◆ BVHExtract() [7/9]

template<>

BVHModel< OBB > * coal::BVHExtract	(	const BVHModel< OBB > &	model,
		const Transform3s &	pose,
		const AABB &	aabb
	)

Definition at line 142 of file BVH_utility.cpp.

◆ BVHExtract() [8/9]

template<>

BVHModel< OBBRSS > * coal::BVHExtract	(	const BVHModel< OBBRSS > &	model,
		const Transform3s &	pose,
		const AABB &	aabb
	)

Definition at line 162 of file BVH_utility.cpp.

◆ BVHExtract() [9/9]

template<>

BVHModel< RSS > * coal::BVHExtract	(	const BVHModel< RSS > &	model,
		const Transform3s &	pose,
		const AABB &	aabb
	)

Definition at line 152 of file BVH_utility.cpp.

◆ checkResultLowerBound()

void coal::checkResultLowerBound	(	const CollisionResult &	result,
		CoalScalar	sqrDistLowerBound
	)

Definition at line 43 of file collision_node.cpp.

◆ circumCircleComputation()

void coal::circumCircleComputation	(	const Vec3s &	a,
		const Vec3s &	b,
		const Vec3s &	c,
		Vec3s &	center,
		CoalScalar &	radius
	)

Compute the center and radius for a triangle's circumcircle.

Definition at line 585 of file BVH_utility.cpp.

◆ clipToRange()

void coal::clipToRange	(	CoalScalar &	val,
		CoalScalar	a,
		CoalScalar	b
	)

Clip value between a and b.

Definition at line 48 of file RSS.cpp.

◆ collide() [1/3]

void coal::collide	(	CollisionTraversalNodeBase *	node,
		const CollisionRequest &	request,
		CollisionResult &	result,
		BVHFrontList *	front_list,
		bool	recursive
	)

Definition at line 62 of file collision_node.cpp.

◆ collide() [2/3]

std::size_t coal::collide	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const CollisionRequest &	request,
		CollisionResult &	result
	)

Definition at line 68 of file src/collision.cpp.

◆ collide() [3/3]

std::size_t coal::collide	(	const CollisionObject *	o1,
		const CollisionObject *	o2,
		const CollisionRequest &	request,
		CollisionResult &	result
	)

Main collision interface: given two collision objects, and the requirements for contacts, including num of max contacts, whether perform exhaustive collision (i.e., returning returning all the contact points), whether return detailed contact information (i.e., normal, contact point, depth; otherwise only contact primitive id is returned), this function performs the collision between them. Return value is the number of contacts generated between the two objects.

Definition at line 61 of file src/collision.cpp.

◆ collisionNonRecurse()

void coal::collisionNonRecurse	(	CollisionTraversalNodeBase *	node,
		BVHFrontList *	front_list,
		CoalScalar &	sqrDistLowerBound
	)

Definition at line 86 of file traversal_recurse.cpp.

◆ collisionRecurse()

void coal::collisionRecurse	(	CollisionTraversalNodeBase *	node,
		unsigned int	b1,
		unsigned int	b2,
		BVHFrontList *	front_list,
		CoalScalar &	sqrDistLowerBound
	)

Definition at line 43 of file traversal_recurse.cpp.

◆ computeBV()

template<typename BV , typename S >

void coal::computeBV	(	const S &	s,
		const Transform3s &	tf,
		BV &	bv
	)

inline

calculate a bounding volume for a shape in a specific configuration

Definition at line 73 of file coal/shape/geometric_shapes_utility.h.

◆ computeBV< AABB, Box >()

template<>

void coal::computeBV< AABB, Box >	(	const Box &	s,
		const Transform3s &	tf,
		AABB &	bv
	)

Definition at line 292 of file geometric_shapes_utility.cpp.

◆ computeBV< AABB, Capsule >()

template<>

void coal::computeBV< AABB, Capsule >	(	const Capsule &	s,
		const Transform3s &	tf,
		AABB &	bv
	)

Definition at line 322 of file geometric_shapes_utility.cpp.

◆ computeBV< AABB, Cone >()

template<>

void coal::computeBV< AABB, Cone >	(	const Cone &	s,
		const Transform3s &	tf,
		AABB &	bv
	)

Definition at line 333 of file geometric_shapes_utility.cpp.

◆ computeBV< AABB, ConvexBase >()

template<>

void coal::computeBV< AABB, ConvexBase >	(	const ConvexBase &	s,
		const Transform3s &	tf,
		AABB &	bv
	)

Definition at line 368 of file geometric_shapes_utility.cpp.

◆ computeBV< AABB, Cylinder >()

template<>

void coal::computeBV< AABB, Cylinder >	(	const Cylinder &	s,
		const Transform3s &	tf,
		AABB &	bv
	)

Definition at line 350 of file geometric_shapes_utility.cpp.

◆ computeBV< AABB, Ellipsoid >()

template<>

void coal::computeBV< AABB, Ellipsoid >	(	const Ellipsoid &	e,
		const Transform3s &	tf,
		AABB &	bv
	)

Definition at line 311 of file geometric_shapes_utility.cpp.

◆ computeBV< AABB, Halfspace >()

template<>

void coal::computeBV< AABB, Halfspace >	(	const Halfspace &	s,
		const Transform3s &	tf,
		AABB &	bv
	)

Definition at line 390 of file geometric_shapes_utility.cpp.

◆ computeBV< AABB, Plane >()

template<>

void coal::computeBV< AABB, Plane >	(	const Plane &	s,
		const Transform3s &	tf,
		AABB &	bv
	)

Definition at line 423 of file geometric_shapes_utility.cpp.

◆ computeBV< AABB, Sphere >()

template<>

void coal::computeBV< AABB, Sphere >	(	const Sphere &	s,
		const Transform3s &	tf,
		AABB &	bv
	)

Definition at line 302 of file geometric_shapes_utility.cpp.

◆ computeBV< AABB, TriangleP >()

template<>

void coal::computeBV< AABB, TriangleP >	(	const TriangleP &	s,
		const Transform3s &	tf,
		AABB &	bv
	)

Definition at line 384 of file geometric_shapes_utility.cpp.

◆ computeBV< KDOP< 16 >, Halfspace >()

template<>

void coal::computeBV< KDOP< 16 >, Halfspace >	(	const Halfspace &	s,
		const Transform3s &	tf,
		KDOP< 16 > &	bv
	)

Definition at line 596 of file geometric_shapes_utility.cpp.

◆ computeBV< KDOP< 16 >, Plane >()

template<>

void coal::computeBV< KDOP< 16 >, Plane >	(	const Plane &	s,
		const Transform3s &	tf,
		KDOP< 16 > &	bv
	)

Definition at line 864 of file geometric_shapes_utility.cpp.

◆ computeBV< KDOP< 18 >, Halfspace >()

template<>

void coal::computeBV< KDOP< 18 >, Halfspace >	(	const Halfspace &	s,
		const Transform3s &	tf,
		KDOP< 18 > &	bv
	)

Definition at line 656 of file geometric_shapes_utility.cpp.

◆ computeBV< KDOP< 18 >, Plane >()

template<>

void coal::computeBV< KDOP< 18 >, Plane >	(	const Plane &	s,
		const Transform3s &	tf,
		KDOP< 18 > &	bv
	)

Definition at line 910 of file geometric_shapes_utility.cpp.

◆ computeBV< KDOP< 24 >, Halfspace >()

template<>

void coal::computeBV< KDOP< 24 >, Halfspace >	(	const Halfspace &	s,
		const Transform3s &	tf,
		KDOP< 24 > &	bv
	)

Definition at line 722 of file geometric_shapes_utility.cpp.

◆ computeBV< KDOP< 24 >, Plane >()

template<>

void coal::computeBV< KDOP< 24 >, Plane >	(	const Plane &	s,
		const Transform3s &	tf,
		KDOP< 24 > &	bv
	)

Definition at line 958 of file geometric_shapes_utility.cpp.

◆ computeBV< kIOS, Halfspace >()

template<>

void coal::computeBV< kIOS, Halfspace >	(	const Halfspace &	s,
		const Transform3s &	tf,
		kIOS &	bv
	)

Definition at line 583 of file geometric_shapes_utility.cpp.

◆ computeBV< kIOS, Plane >()

template<>

void coal::computeBV< kIOS, Plane >	(	const Plane &	s,
		const Transform3s &	tf,
		kIOS &	bv
	)

Definition at line 852 of file geometric_shapes_utility.cpp.

◆ computeBV< OBB, Box >()

template<>

void coal::computeBV< OBB, Box >	(	const Box &	s,
		const Transform3s &	tf,
		OBB &	bv
	)

Definition at line 458 of file geometric_shapes_utility.cpp.

◆ computeBV< OBB, Capsule >()

template<>

void coal::computeBV< OBB, Capsule >	(	const Capsule &	s,
		const Transform3s &	tf,
		OBB &	bv
	)

Definition at line 485 of file geometric_shapes_utility.cpp.

◆ computeBV< OBB, Cone >()

template<>

void coal::computeBV< OBB, Cone >	(	const Cone &	s,
		const Transform3s &	tf,
		OBB &	bv
	)

Definition at line 499 of file geometric_shapes_utility.cpp.

◆ computeBV< OBB, ConvexBase >()

template<>

void coal::computeBV< OBB, ConvexBase >	(	const ConvexBase &	s,
		const Transform3s &	tf,
		OBB &	bv
	)

Definition at line 528 of file geometric_shapes_utility.cpp.

◆ computeBV< OBB, Cylinder >()

template<>

void coal::computeBV< OBB, Cylinder >	(	const Cylinder &	s,
		const Transform3s &	tf,
		OBB &	bv
	)

Definition at line 513 of file geometric_shapes_utility.cpp.

◆ computeBV< OBB, Halfspace >()

template<>

void coal::computeBV< OBB, Halfspace >	(	const Halfspace &	s,
		const Transform3s &	tf,
		OBB &	bv
	)

Half space can only have very rough OBB

Definition at line 545 of file geometric_shapes_utility.cpp.

◆ computeBV< OBB, Plane >()

template<>

void coal::computeBV< OBB, Plane >	(	const Plane &	s,
		const Transform3s &	tf,
		OBB &	bv
	)

n'd' = R * n * (d + (R * n) * T) = R * (n * d) + T

Definition at line 803 of file geometric_shapes_utility.cpp.

◆ computeBV< OBB, Sphere >()

template<>

void coal::computeBV< OBB, Sphere >	(	const Sphere &	s,
		const Transform3s &	tf,
		OBB &	bv
	)

Definition at line 472 of file geometric_shapes_utility.cpp.

◆ computeBV< OBBRSS, Halfspace >()

template<>

void coal::computeBV< OBBRSS, Halfspace >	(	const Halfspace &	s,
		const Transform3s &	tf,
		OBBRSS &	bv
	)

Definition at line 572 of file geometric_shapes_utility.cpp.

◆ computeBV< OBBRSS, Plane >()

template<>

void coal::computeBV< OBBRSS, Plane >	(	const Plane &	s,
		const Transform3s &	tf,
		OBBRSS &	bv
	)

Definition at line 841 of file geometric_shapes_utility.cpp.

◆ computeBV< RSS, Halfspace >()

template<>

void coal::computeBV< RSS, Halfspace >	(	const Halfspace &	s,
		const Transform3s &	tf,
		RSS &	bv
	)

Half space can only have very rough RSS

Definition at line 558 of file geometric_shapes_utility.cpp.

◆ computeBV< RSS, Plane >()

template<>

void coal::computeBV< RSS, Plane >	(	const Plane &	s,
		const Transform3s &	tf,
		RSS &	bv
	)

Definition at line 821 of file geometric_shapes_utility.cpp.

◆ computeChildBV()

static void coal::computeChildBV	(	const AABB &	root_bv,
		unsigned int	i,
		AABB &	child_bv
	)

inlinestatic

compute the bounding volume of an octree node's i-th child

Definition at line 299 of file coal/octree.h.

◆ computeContactPatch() [1/2]

void coal::computeContactPatch	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const CollisionResult &	collision_result,
		const ContactPatchRequest &	request,
		ContactPatchResult &	result
	)

Main contact patch computation interface.

Note: Please see ContactPatchRequest and ContactPatchResult for more info on the content of the input/output of this function. Also, please read ContactPatch if you want to fully understand what is meant by "contact patch".

Definition at line 47 of file src/contact_patch.cpp.

◆ computeContactPatch() [2/2]

void coal::computeContactPatch	(	const CollisionObject *	o1,
		const CollisionObject *	o2,
		const CollisionResult &	collision_result,
		const ContactPatchRequest &	request,
		ContactPatchResult &	result
	)

Definition at line 98 of file src/contact_patch.cpp.

◆ computeMemoryFootprint()

template<typename T >

size_t coal::computeMemoryFootprint ( const T & object )

Returns the memory footpring of the input object. For POD objects, this function returns the result of sizeof(T)

Parameters

[in] object whose memory footprint needs to be evaluated.

Returns: the memory footprint of the input object.

Definition at line 24 of file coal/serialization/memory.h.

◆ computePatchPlaneOrHalfspace()

template<bool InvertShapes, typename OtherShapeType , typename PlaneOrHalfspace >

void coal::computePatchPlaneOrHalfspace	(	const OtherShapeType &	s1,
		const Transform3s &	tf1,
		const PlaneOrHalfspace &	s2,
		const Transform3s &	tf2,
		const ContactPatchSolver *	csolver,
		const Contact &	contact,
		ContactPatch &	contact_patch
	)

Computes the contact patch between a Plane/Halfspace and another shape.

Template Parameters

InvertShapes set to true if the first shape of the collision pair is s2 and not s1 (if you had to invert (s1, tf1) and (s2, tf2) when calling this function).

Definition at line 90 of file coal/internal/shape_shape_contact_patch_func.h.

◆ computeSplitValue_bvcenter()

template<typename BV >

void coal::computeSplitValue_bvcenter	(	const BV &	bv,
		CoalScalar &	split_value
	)

Definition at line 86 of file BV_splitter.cpp.

◆ computeSplitValue_mean()

template<typename BV >

void coal::computeSplitValue_mean	(	const BV &	,
		Vec3s *	vertices,
		Triangle *	triangles,
		unsigned int *	primitive_indices,
		unsigned int	num_primitives,
		BVHModelType	type,
		const Vec3s &	split_vector,
		CoalScalar &	split_value
	)

Definition at line 92 of file BV_splitter.cpp.

◆ computeSplitValue_median()

template<typename BV >

void coal::computeSplitValue_median	(	const BV &	,
		Vec3s *	vertices,
		Triangle *	triangles,
		unsigned int *	primitive_indices,
		unsigned int	num_primitives,
		BVHModelType	type,
		const Vec3s &	split_vector,
		CoalScalar &	split_value
	)

Definition at line 121 of file BV_splitter.cpp.

◆ computeSplitVector()

template<typename BV >

void coal::computeSplitVector	(	const BV &	bv,
		Vec3s &	split_vector
	)

Definition at line 43 of file BV_splitter.cpp.

◆ computeSplitVector< kIOS >()

template<>

void coal::computeSplitVector< kIOS >	(	const kIOS &	bv,
		Vec3s &	split_vector
	)

Definition at line 48 of file BV_splitter.cpp.

◆ computeSplitVector< OBBRSS >()

template<>

void coal::computeSplitVector< OBBRSS >	(	const OBBRSS &	bv,
		Vec3s &	split_vector
	)

Definition at line 81 of file BV_splitter.cpp.

◆ computeVertices()

void coal::computeVertices	(	const OBB &	b,
		Vec3s	vertices[8]
	)

inline

Compute the 8 vertices of a OBB.

Definition at line 50 of file OBB.cpp.

◆ constructBox() [1/16]

void coal::constructBox	(	const AABB &	bv,
		Box &	box,
		Transform3s &	tf
	)

construct a box shape (with a configuration) from a given bounding volume

Definition at line 1011 of file geometric_shapes_utility.cpp.

◆ constructBox() [2/16]

void coal::constructBox	(	const AABB &	bv,
		const Transform3s &	tf_bv,
		Box &	box,
		Transform3s &	tf
	)

Definition at line 1051 of file geometric_shapes_utility.cpp.

◆ constructBox() [3/16]

void coal::constructBox	(	const KDOP< 16 > &	bv,
		Box &	box,
		Transform3s &	tf
	)

Definition at line 1036 of file geometric_shapes_utility.cpp.

◆ constructBox() [4/16]

void coal::constructBox	(	const KDOP< 16 > &	bv,
		const Transform3s &	tf_bv,
		Box &	box,
		Transform3s &	tf
	)

Definition at line 1081 of file geometric_shapes_utility.cpp.

◆ constructBox() [5/16]

void coal::constructBox	(	const KDOP< 18 > &	bv,
		Box &	box,
		Transform3s &	tf
	)

Definition at line 1041 of file geometric_shapes_utility.cpp.

◆ constructBox() [6/16]

void coal::constructBox	(	const KDOP< 18 > &	bv,
		const Transform3s &	tf_bv,
		Box &	box,
		Transform3s &	tf
	)

Definition at line 1087 of file geometric_shapes_utility.cpp.

◆ constructBox() [7/16]

void coal::constructBox	(	const KDOP< 24 > &	bv,
		Box &	box,
		Transform3s &	tf
	)

Definition at line 1046 of file geometric_shapes_utility.cpp.

◆ constructBox() [8/16]

void coal::constructBox	(	const KDOP< 24 > &	bv,
		const Transform3s &	tf_bv,
		Box &	box,
		Transform3s &	tf
	)

Definition at line 1093 of file geometric_shapes_utility.cpp.

◆ constructBox() [9/16]

void coal::constructBox	(	const kIOS &	bv,
		Box &	box,
		Transform3s &	tf
	)

Definition at line 1026 of file geometric_shapes_utility.cpp.

◆ constructBox() [10/16]

void coal::constructBox	(	const kIOS &	bv,
		const Transform3s &	tf_bv,
		Box &	box,
		Transform3s &	tf
	)

Definition at line 1069 of file geometric_shapes_utility.cpp.

◆ constructBox() [11/16]

void coal::constructBox	(	const OBB &	bv,
		Box &	box,
		Transform3s &	tf
	)

Definition at line 1016 of file geometric_shapes_utility.cpp.

◆ constructBox() [12/16]

void coal::constructBox	(	const OBB &	bv,
		const Transform3s &	tf_bv,
		Box &	box,
		Transform3s &	tf
	)

Definition at line 1057 of file geometric_shapes_utility.cpp.

◆ constructBox() [13/16]

void coal::constructBox	(	const OBBRSS &	bv,
		Box &	box,
		Transform3s &	tf
	)

Definition at line 1021 of file geometric_shapes_utility.cpp.

◆ constructBox() [14/16]

void coal::constructBox	(	const OBBRSS &	bv,
		const Transform3s &	tf_bv,
		Box &	box,
		Transform3s &	tf
	)

Definition at line 1063 of file geometric_shapes_utility.cpp.

◆ constructBox() [15/16]

void coal::constructBox	(	const RSS &	bv,
		Box &	box,
		Transform3s &	tf
	)

Definition at line 1031 of file geometric_shapes_utility.cpp.

◆ constructBox() [16/16]

void coal::constructBox	(	const RSS &	bv,
		const Transform3s &	tf_bv,
		Box &	box,
		Transform3s &	tf
	)

Definition at line 1075 of file geometric_shapes_utility.cpp.

◆ constructContactPatchFrameFromContact()

void coal::constructContactPatchFrameFromContact	(	const Contact &	contact,
		ContactPatch &	contact_patch
	)

inline

Construct a frame from a Contact's position and normal. Because both Contact's position and normal are expressed in the world frame, this frame is also expressed w.r.t the world frame. The origin of the frame is contact.pos and the z-axis of the frame is contact.normal.

Definition at line 704 of file coal/collision_data.h.

◆ constructOrthonormalBasisFromVector()

Matrix3s coal::constructOrthonormalBasisFromVector ( const Vec3s & vec )

inline

Construct othonormal basis from vector. The z-axis is the normalized input vector.

Definition at line 262 of file coal/math/transform.h.

◆ constructPolytopeFromEllipsoid()

Convex< Triangle > coal::constructPolytopeFromEllipsoid ( const Ellipsoid & ellipsoid )

We give an ellipsoid as input. The output is a 20 faces polytope which vertices belong to the original ellipsoid surface. The procedure is simple: we construct a icosahedron, see https://sinestesia.co/blog/tutorials/python-icospheres/ . We then apply an ellipsoid tranformation to each vertex of the icosahedron.

Definition at line 501 of file utility.cpp.

◆ contact_patch_function_not_implemented()

COAL_LOCAL void coal::contact_patch_function_not_implemented	(	const CollisionGeometry *	o1,
		const Transform3s &	,
		const CollisionGeometry *	o2,
		const Transform3s &	,
		const CollisionResult &	,
		const ContactPatchSolver *	,
		const ContactPatchRequest &	,
		ContactPatchResult &
	)

Definition at line 119 of file contact_patch_func_matrix.cpp.

◆ convertBV() [1/2]

template<typename BV1 , typename BV2 >

static void coal::convertBV	(	const BV1 &	bv1,
		BV2 &	bv2
	)

inlinestatic

Convert a bounding volume of type BV1 to bounding volume of type BV2 in identity configuration.

Definition at line 283 of file coal/BV/BV.h.

◆ convertBV() [2/2]

template<typename BV1 , typename BV2 >

static void coal::convertBV	(	const BV1 &	bv1,
		const Transform3s &	tf1,
		BV2 &	bv2
	)

inlinestatic

Convert a bounding volume of type BV1 in configuration tf1 to bounding volume of type BV2 in identity configuration.

Definition at line 276 of file coal/BV/BV.h.

◆ defaultCollisionFunction()

bool coal::defaultCollisionFunction	(	CollisionObject *	o1,
		CollisionObject *	o2,
		void *	data
	)

Provides a simple callback for the collision query in the BroadPhaseCollisionManager. It assumes the data parameter is non-null and points to an instance of CollisionData. It simply invokes the collide() method on the culled pair of geometries and stores the results in the data's CollisionResult instance.

Default collision callback for two objects o1 and o2 in broad phase. return value means whether the broad phase can stop now.

This callback will cause the broadphase evaluation to stop if:

the collision requests disables cost and
the collide() reports a collision for the culled pair, and
we've reported the number of contacts requested in the CollisionRequest.

For a given instance of CollisionData, if broadphase evaluation has already terminated (i.e., defaultCollisionFunction() returned true), subsequent invocations with the same instance of CollisionData will return immediately, requesting termination of broadphase evaluation (i.e., return true).

Parameters

o1	The first object in the culled pair.
o2	The second object in the culled pair.
data	A non-null pointer to a CollisionData instance.

Returns: true if the broadphase evaluation should stop.

Template Parameters

S	The scalar type with which the computation will be performed.

Definition at line 42 of file default_broadphase_callbacks.cpp.

◆ defaultDistanceFunction()

bool coal::defaultDistanceFunction	(	CollisionObject *	o1,
		CollisionObject *	o2,
		void *	data,
		CoalScalar &	dist
	)

Collision data for use with the DefaultContinuousCollisionFunction. It stores the collision request and the result given by the collision algorithm (and stores the conclusion of whether further evaluation of the broadphase collision manager has been deemed unnecessary).

Default distance callback for two objects o1 and o2 in broad phase. return value means whether the broad phase can stop now. also return dist, i.e. the bmin distance till now.

Provides a simple callback for the continuous collision query in the BroadPhaseCollisionManager. It assumes the data parameter is non-null and points to an instance of DefaultContinuousCollisionData. It simply invokes the collide() method on the culled pair of geometries and stores the results in the data's ContinuousCollisionResult instance.

This callback will never cause the broadphase evaluation to terminate early. However, if the done member of the DefaultContinuousCollisionData is set to true, this method will simply return without doing any computation.

For a given instance of DefaultContinuousCollisionData, if broadphase evaluation has already terminated (i.e., DefaultContinuousCollisionFunction() returned true), subsequent invocations with the same instance of CollisionData will return immediately, requesting termination of broadphase evaluation (i.e., return true).

Parameters

o1	The first object in the culled pair.
o2	The second object in the culled pair.
data	A non-null pointer to a CollisionData instance.

Returns: True if the broadphase evaluation should stop.

Template Parameters

S	The scalar type with which the computation will be performed.

Provides a simple callback for the distance query in the BroadPhaseCollisionManager. It assumes the data parameter is non-null and points to an instance of DistanceData. It simply invokes the distance() method on the culled pair of geometries and stores the results in the data's DistanceResult instance.

This callback will cause the broadphase evaluation to stop if:

The distance is less than or equal to zero (i.e., the pair is in contact).

For a given instance of DistanceData, if broadphase evaluation has already terminated (i.e., defaultDistanceFunction() returned true), subsequent invocations with the same instance of DistanceData will simply report the previously reported minimum distance and request termination of broadphase evaluation (i.e., return true).

Parameters

o1	The first object in the culled pair.
o2	The second object in the culled pair.
data	A non-null pointer to a DistanceData instance.
dist	The distance computed by distance().

Returns: true if the broadphase evaluation should stop.

Template Parameters

S	The scalar type with which the computation will be performed.

Definition at line 66 of file default_broadphase_callbacks.cpp.

◆ distance() [1/3]

CoalScalar coal::distance	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Definition at line 59 of file src/distance.cpp.

◆ distance() [2/3]

CoalScalar coal::distance	(	const CollisionObject *	o1,
		const CollisionObject *	o2,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Main distance interface: given two collision objects, and the requirements for contacts, including whether return the nearest points, this function performs the distance between them. Return value is the minimum distance generated between the two objects.

Definition at line 52 of file src/distance.cpp.

◆ distance() [3/3]

void coal::distance	(	DistanceTraversalNodeBase *	node,
		BVHFrontList *	front_list,
		unsigned int	qsize
	)

Definition at line 79 of file collision_node.cpp.

◆ distance_function_not_implemented()

COAL_LOCAL CoalScalar coal::distance_function_not_implemented	(	const CollisionGeometry *	o1,
		const Transform3s &	,
		const CollisionGeometry *	o2,
		const Transform3s &	,
		const GJKSolver *	,
		const DistanceRequest &	,
		DistanceResult &
	)

Definition at line 69 of file distance_func_matrix.cpp.

◆ distanceQueueRecurse()

void coal::distanceQueueRecurse	(	DistanceTraversalNodeBase *	node,
		unsigned int	b1,
		unsigned int	b2,
		BVHFrontList *	front_list,
		unsigned int	qsize
	)

Definition at line 241 of file traversal_recurse.cpp.

◆ distanceRecurse()

void coal::distanceRecurse	(	DistanceTraversalNodeBase *	node,
		unsigned int	b1,
		unsigned int	b2,
		BVHFrontList *	front_list
	)

Recurse function for self collision Make sure node is set correctly so that the first and second tree are the same

Definition at line 152 of file traversal_recurse.cpp.

◆ eigen()

template<typename Derived , typename Vector >

void coal::eigen	(	const Eigen::MatrixBase< Derived > &	m,
		typename Derived::Scalar	dout[3],
		Vector *	vout
	)

compute the eigen vector and eigen vector of a matrix. dout is the eigen values, vout is the eigen vectors

Definition at line 103 of file coal/internal/tools.h.

◆ eulerToMatrix()

void coal::eulerToMatrix	(	CoalScalar	a,
		CoalScalar	b,
		CoalScalar	c,
		Matrix3s &	R
	)

Definition at line 198 of file utility.cpp.

◆ extract()

CollisionGeometry * coal::extract	(	const CollisionGeometry *	model,
		const Transform3s &	pose,
		const AABB &	aabb
	)

Definition at line 66 of file collision_utility.cpp.

◆ fit() [1/6]

template<>

void coal::fit	(	Vec3s *	ps,
		unsigned int	n,
		AABB &	bv
	)

Definition at line 472 of file BV_fitter.cpp.

◆ fit() [2/6]

template<typename BV >

void coal::fit	(	Vec3s *	ps,
		unsigned int	n,
		BV &	bv
	)

Compute a bounding volume that fits a set of n points.

Definition at line 51 of file coal/internal/BV_fitter.h.

◆ fit() [3/6]

template<>

void coal::fit	(	Vec3s *	ps,
		unsigned int	n,
		kIOS &	bv
	)

Definition at line 438 of file BV_fitter.cpp.

◆ fit() [4/6]

template<>

void coal::fit	(	Vec3s *	ps,
		unsigned int	n,
		OBB &	bv
	)

Definition at line 401 of file BV_fitter.cpp.

◆ fit() [5/6]

template<>

void coal::fit	(	Vec3s *	ps,
		unsigned int	n,
		OBBRSS &	bv
	)

Definition at line 455 of file BV_fitter.cpp.

◆ fit() [6/6]

template<>

void coal::fit	(	Vec3s *	ps,
		unsigned int	n,
		RSS &	bv
	)

Definition at line 421 of file BV_fitter.cpp.

◆ fit< AABB >()

template<>

void coal::fit< AABB >	(	Vec3s *	ps,
		unsigned int	n,
		AABB &	bv
	)

◆ fit< kIOS >()

template<>

void coal::fit< kIOS >	(	Vec3s *	ps,
		unsigned int	n,
		kIOS &	bv
	)

◆ fit< OBB >()

template<>

void coal::fit< OBB >	(	Vec3s *	ps,
		unsigned int	n,
		OBB &	bv
	)

◆ fit< OBBRSS >()

template<>

void coal::fit< OBBRSS >	(	Vec3s *	ps,
		unsigned int	n,
		OBBRSS &	bv
	)

◆ fit< RSS >()

template<>

void coal::fit< RSS >	(	Vec3s *	ps,
		unsigned int	n,
		RSS &	bv
	)

◆ fromAxisAngle()

template<typename Derived >

Quatf coal::fromAxisAngle	(	const Eigen::MatrixBase< Derived > &	axis,
		CoalScalar	angle
	)

inline

Definition at line 224 of file coal/math/transform.h.

◆ generateBVHModel() [1/7]

template<typename BV >

void coal::generateBVHModel	(	BVHModel< BV > &	model,
		const Box &	shape,
		const Transform3s &	pose
	)

Generate BVH model from box.

Definition at line 49 of file coal/shape/geometric_shape_to_BVH_model.h.

◆ generateBVHModel() [2/7]

template<typename BV >

void coal::generateBVHModel	(	BVHModel< BV > &	model,
		const Cone &	shape,
		const Transform3s &	pose,
		unsigned int	tot,
		unsigned int	h_num
	)

Generate BVH model from cone, given the number of segments along circle and the number of segments along axis.

Definition at line 264 of file coal/shape/geometric_shape_to_BVH_model.h.

◆ generateBVHModel() [3/7]

template<typename BV >

void coal::generateBVHModel	(	BVHModel< BV > &	model,
		const Cone &	shape,
		const Transform3s &	pose,
		unsigned int	tot_for_unit_cone
	)

Generate BVH model from cone Difference from generateBVHModel: is that it gives the circle split number tot for a cylinder with unit radius. For cone with larger radius, the number of circle split number is r * tot.

Definition at line 337 of file coal/shape/geometric_shape_to_BVH_model.h.

◆ generateBVHModel() [4/7]

template<typename BV >

void coal::generateBVHModel	(	BVHModel< BV > &	model,
		const Cylinder &	shape,
		const Transform3s &	pose,
		unsigned int	tot,
		unsigned int	h_num
	)

Generate BVH model from cylinder, given the number of segments along circle and the number of segments along axis.

Definition at line 172 of file coal/shape/geometric_shape_to_BVH_model.h.

◆ generateBVHModel() [5/7]

template<typename BV >

void coal::generateBVHModel	(	BVHModel< BV > &	model,
		const Cylinder &	shape,
		const Transform3s &	pose,
		unsigned int	tot_for_unit_cylinder
	)

Generate BVH model from cylinder Difference from generateBVHModel: is that it gives the circle split number tot for a cylinder with unit radius. For cylinder with larger radius, the number of circle split number is r * tot.

Definition at line 245 of file coal/shape/geometric_shape_to_BVH_model.h.

◆ generateBVHModel() [6/7]

template<typename BV >

void coal::generateBVHModel	(	BVHModel< BV > &	model,
		const Sphere &	shape,
		const Transform3s &	pose,
		unsigned int	n_faces_for_unit_sphere
	)

Generate BVH model from sphere The difference between generateBVHModel is that it gives the number of triangles faces N for a sphere with unit radius. For sphere of radius r, then the number of triangles is r * r * N so that the area represented by a single triangle is approximately the same.s.

Definition at line 157 of file coal/shape/geometric_shape_to_BVH_model.h.

◆ generateBVHModel() [7/7]

template<typename BV >

void coal::generateBVHModel	(	BVHModel< BV > &	model,
		const Sphere &	shape,
		const Transform3s &	pose,
		unsigned int	seg,
		unsigned int	ring
	)

Generate BVH model from sphere, given the number of segments along longitude and number of rings along latitude.

Definition at line 91 of file coal/shape/geometric_shape_to_BVH_model.h.

◆ generateCoordinateSystem()

template<typename Derived1 , typename Derived2 , typename Derived3 >

void coal::generateCoordinateSystem	(	const Eigen::MatrixBase< Derived1 > &	_w,
		const Eigen::MatrixBase< Derived2 > &	_u,
		const Eigen::MatrixBase< Derived3 > &	_v
	)

Definition at line 59 of file coal/internal/tools.h.

◆ generateEnvironments()

void coal::generateEnvironments	(	std::vector< CollisionObject * > &	env,
		CoalScalar	env_scale,
		std::size_t	n
	)

Definition at line 392 of file utility.cpp.

◆ generateEnvironmentsMesh()

void coal::generateEnvironmentsMesh	(	std::vector< CollisionObject * > &	env,
		CoalScalar	env_scale,
		std::size_t	n
	)

Definition at line 423 of file utility.cpp.

◆ generateRandomTransform()

void coal::generateRandomTransform	(	CoalScalar	extents[6],
		Transform3s &	transform
	)

Generate one random transform whose translation is constrained by extents and rotation without constraints. The translation is (x, y, z), and extents[0] <= x <= extents[3], extents[1] <= y <= extents[4], extents[2] <= z <= extents[5].

Definition at line 210 of file utility.cpp.

◆ generateRandomTransforms() [1/2]

void coal::generateRandomTransforms	(	CoalScalar	extents[6],
		CoalScalar	delta_trans[3],
		CoalScalar	delta_rot,
		std::vector< Transform3s > &	transforms,
		std::vector< Transform3s > &	transforms2,
		std::size_t	n
	)

Generate n random transforms whose translations are constrained by extents. Also generate another transforms2 which have additional random translation & rotation to the transforms generated.

Definition at line 249 of file utility.cpp.

◆ generateRandomTransforms() [2/2]

void coal::generateRandomTransforms	(	CoalScalar	extents[6],
		std::vector< Transform3s > &	transforms,
		std::size_t	n
	)

Generate n random transforms whose translations are constrained by extents.

Definition at line 226 of file utility.cpp.

◆ get_node_type_name()

const char* coal::get_node_type_name ( NODE_TYPE node_type )

inline

Returns the name associated to a NODE_TYPE.

Definition at line 32 of file coal/collision_utility.h.

◆ get_object_type_name()

const char* coal::get_object_type_name ( OBJECT_TYPE object_type )

inline

Returns the name associated to a OBJECT_TYPE.

Definition at line 47 of file coal/collision_utility.h.

◆ getCollisionFunctionLookTable()

CollisionFunctionMatrix& coal::getCollisionFunctionLookTable ( )

Definition at line 45 of file src/collision.cpp.

◆ getContactPatchFunctionLookTable()

ContactPatchFunctionMatrix& coal::getContactPatchFunctionLookTable ( )

Definition at line 42 of file src/contact_patch.cpp.

◆ getCovariance()

void coal::getCovariance	(	Vec3s *	ps,
		Vec3s *	ps2,
		Triangle *	ts,
		unsigned int *	indices,
		unsigned int	n,
		Matrix3s &	M
	)

Compute the covariance matrix for a set or subset of points. if ts = null, then indices refer to points directly; otherwise refer to triangles.

Definition at line 182 of file BVH_utility.cpp.

◆ getDistanceFunctionLookTable()

DistanceFunctionMatrix& coal::getDistanceFunctionLookTable ( )

Definition at line 47 of file src/distance.cpp.

◆ getDistances()

template<short N>

void coal::getDistances	(	const Vec3s &	,
		CoalScalar *
	)

Compute the distances to planes with normals from KDOP vectors except those of AABB face planes.

Definition at line 66 of file kDOP.cpp.

◆ getDistances< 5 >()

template<>

void coal::getDistances< 5 >	(	const Vec3s &	p,
		CoalScalar *	d
	)

inline

Specification of getDistances.

Definition at line 70 of file kDOP.cpp.

◆ getDistances< 6 >()

template<>

void coal::getDistances< 6 >	(	const Vec3s &	p,
		CoalScalar *	d
	)

inline

Definition at line 79 of file kDOP.cpp.

◆ getDistances< 9 >()

template<>

void coal::getDistances< 9 >	(	const Vec3s &	p,
		CoalScalar *	d
	)

inline

Definition at line 89 of file kDOP.cpp.

◆ getExtentAndCenter()

void coal::getExtentAndCenter	(	Vec3s *	ps,
		Vec3s *	ps2,
		Triangle *	ts,
		unsigned int *	indices,
		unsigned int	n,
		Matrix3s &	axes,
		Vec3s &	center,
		Vec3s &	extent
	)

Compute the bounding volume extent and center for a set or subset of points, given the BV axises.

Definition at line 576 of file BVH_utility.cpp.

◆ getExtentAndCenter_mesh()

static void coal::getExtentAndCenter_mesh	(	Vec3s *	ps,
		Vec3s *	ps2,
		Triangle *	ts,
		unsigned int *	indices,
		unsigned int	n,
		Matrix3s &	axes,
		Vec3s &	center,
		Vec3s &	extent
	)

inlinestatic

Compute the bounding volume extent and center for a set or subset of points. The bounding volume axes are known.

Definition at line 528 of file BVH_utility.cpp.

◆ getExtentAndCenter_pointcloud()

static void coal::getExtentAndCenter_pointcloud	(	Vec3s *	ps,
		Vec3s *	ps2,
		unsigned int *	indices,
		unsigned int	n,
		Matrix3s &	axes,
		Vec3s &	center,
		Vec3s &	extent
	)

inlinestatic

Compute the bounding volume extent and center for a set or subset of points. The bounding volume axes are known.

Definition at line 486 of file BVH_utility.cpp.

◆ getNbRun()

std::size_t coal::getNbRun	(	const int &	argc,
		char const const	argv,
		std::size_t	defaultValue
	)

Get the argument –nb-run from argv.

Definition at line 384 of file utility.cpp.

◆ getNodeTypeName()

std::string coal::getNodeTypeName ( NODE_TYPE node_type )

Definition at line 327 of file utility.cpp.

◆ getRadiusAndOriginAndRectangleSize()

void coal::getRadiusAndOriginAndRectangleSize	(	Vec3s *	ps,
		Vec3s *	ps2,
		Triangle *	ts,
		unsigned int *	indices,
		unsigned int	n,
		const Matrix3s &	axes,
		Vec3s &	origin,
		CoalScalar	l[2],
		CoalScalar &	r
	)

Compute the RSS bounding volume parameters: radius, rectangle size and the origin, given the BV axises.

Compute the RSS bounding volume parameters: radius, rectangle size and the origin. The bounding volume axes are known.

Definition at line 263 of file BVH_utility.cpp.

◆ inVoronoi()

bool coal::inVoronoi	(	CoalScalar	a,
		CoalScalar	b,
		CoalScalar	Anorm_dot_B,
		CoalScalar	Anorm_dot_T,
		CoalScalar	A_dot_B,
		CoalScalar	A_dot_T,
		CoalScalar	B_dot_T
	)

Returns whether the nearest point on rectangle edge Pb + B*u, 0 <= u <= b, to the rectangle edge, Pa + A*t, 0 <= t <= a, is within the half space determined by the point Pa and the direction Anorm. A,B, and Anorm are unit vectors. T is the vector between Pa and Pb.

Definition at line 94 of file RSS.cpp.

◆ isEqual()

template<typename Derived , typename OtherDerived >

bool coal::isEqual	(	const Eigen::MatrixBase< Derived > &	lhs,
		const Eigen::MatrixBase< OtherDerived > &	rhs,
		const CoalScalar	tol = `std::numeric_limits<CoalScalar>::epsilon() * 100`
	)

Definition at line 204 of file coal/internal/tools.h.

◆ loadOBJFile()

void coal::loadOBJFile	(	const char *	filename,
		std::vector< Vec3s > &	points,
		std::vector< Triangle > &	triangles
	)

Load an obj mesh file.

Definition at line 97 of file utility.cpp.

◆ loadPolyhedronFromResource()

template<class BoundingVolume >

void coal::loadPolyhedronFromResource	(	const std::string &	resource_path,
		const coal::Vec3s &	scale,
		const shared_ptr< BVHModel< BoundingVolume > > &	polyhedron
	)

inline

Read a mesh file and convert it to a polyhedral mesh.

Parameters

[in]	resource_path	Path to the ressource mesh file to be read
[in]	scale	Scale to apply when reading the ressource
[out]	polyhedron	The resulted polyhedron

Definition at line 116 of file coal/mesh_loader/assimp.h.

◆ makeOctree()

OcTreePtr_t coal::makeOctree	(	const Eigen::Matrix< CoalScalar, Eigen::Dynamic, 3 > &	point_cloud,
		const CoalScalar	resolution
	)

Build an OcTree from a point cloud and a given resolution.

Parameters

[in]	point_cloud	The input points to insert in the OcTree
[in]	resolution	of the octree.

Returns: An OcTree that can be used for collision checking and more.

Definition at line 188 of file src/octree.cpp.

◆ makeQuat()

Quatf coal::makeQuat	(	CoalScalar	w,
		CoalScalar	x,
		CoalScalar	y,
		CoalScalar	z
	)

Definition at line 370 of file utility.cpp.

◆ makeRandomBox()

Box coal::makeRandomBox	(	CoalScalar	min_size,
		CoalScalar	max_size
	)

Definition at line 559 of file utility.cpp.

◆ makeRandomCapsule()

Capsule coal::makeRandomCapsule	(	std::array< CoalScalar, 2 >	min_size,
		std::array< CoalScalar, 2 >	max_size
	)

Definition at line 575 of file utility.cpp.

◆ makeRandomCone()

Cone coal::makeRandomCone	(	std::array< CoalScalar, 2 >	min_size,
		std::array< CoalScalar, 2 >	max_size
	)

Definition at line 581 of file utility.cpp.

◆ makeRandomConvex()

Convex< Triangle > coal::makeRandomConvex	(	CoalScalar	min_size,
		CoalScalar	max_size
	)

Definition at line 593 of file utility.cpp.

◆ makeRandomCylinder()

Cylinder coal::makeRandomCylinder	(	std::array< CoalScalar, 2 >	min_size,
		std::array< CoalScalar, 2 >	max_size
	)

Definition at line 587 of file utility.cpp.

◆ makeRandomEllipsoid()

Ellipsoid coal::makeRandomEllipsoid	(	CoalScalar	min_size,
		CoalScalar	max_size
	)

Definition at line 569 of file utility.cpp.

◆ makeRandomGeometry()

std::shared_ptr< ShapeBase > coal::makeRandomGeometry ( NODE_TYPE node_type )

Definition at line 607 of file utility.cpp.

◆ makeRandomHalfspace()

Halfspace coal::makeRandomHalfspace	(	CoalScalar	min_size,
		CoalScalar	max_size
	)

Definition at line 602 of file utility.cpp.

◆ makeRandomPlane()

Plane coal::makeRandomPlane	(	CoalScalar	min_size,
		CoalScalar	max_size
	)

Definition at line 598 of file utility.cpp.

◆ makeRandomSphere()

Sphere coal::makeRandomSphere	(	CoalScalar	min_size,
		CoalScalar	max_size
	)

Definition at line 565 of file utility.cpp.

◆ maximumDistance()

CoalScalar coal::maximumDistance	(	Vec3s *	ps,
		Vec3s *	ps2,
		Triangle *	ts,
		unsigned int *	indices,
		unsigned int	n,
		const Vec3s &	query
	)

Compute the maximum distance from a given center point to a point cloud.

Definition at line 659 of file BVH_utility.cpp.

◆ maximumDistance_mesh()

static CoalScalar coal::maximumDistance_mesh	(	Vec3s *	ps,
		Vec3s *	ps2,
		Triangle *	ts,
		unsigned int *	indices,
		unsigned int	n,
		const Vec3s &	query
	)

inlinestatic

Definition at line 599 of file BVH_utility.cpp.

◆ maximumDistance_pointcloud()

static CoalScalar coal::maximumDistance_pointcloud	(	Vec3s *	ps,
		Vec3s *	ps2,
		unsigned int *	indices,
		unsigned int	n,
		const Vec3s &	query
	)

inlinestatic

Definition at line 634 of file BVH_utility.cpp.

◆ merge_largedist()

OBB coal::merge_largedist	(	const OBB &	b1,
		const OBB &	b2
	)

inline

OBB merge method when the centers of two smaller OBB are far away.

Definition at line 63 of file OBB.cpp.

◆ merge_smalldist()

OBB coal::merge_smalldist	(	const OBB &	b1,
		const OBB &	b2
	)

inline

OBB merge method when the centers of two smaller OBB are close.

Definition at line 115 of file OBB.cpp.

◆ minmax() [1/2]

void coal::minmax	(	CoalScalar	a,
		CoalScalar	b,
		CoalScalar &	minv,
		CoalScalar &	maxv
	)

inline

Find the smaller and larger one of two values.

Definition at line 47 of file kDOP.cpp.

◆ minmax() [2/2]

void coal::minmax	(	CoalScalar	p,
		CoalScalar &	minv,
		CoalScalar &	maxv
	)

inline

Merge the interval [minv, maxv] and value p/.

Definition at line 58 of file kDOP.cpp.

◆ obbDisjointAndLowerBoundDistance()

bool coal::obbDisjointAndLowerBoundDistance	(	const Matrix3s &	B,
		const Vec3s &	T,
		const Vec3s &	a_,
		const Vec3s &	b_,
		const CollisionRequest &	request,
		CoalScalar &	squaredLowerBoundDistance
	)

Definition at line 343 of file OBB.cpp.

◆ operator&()

CollisionRequestFlag coal::operator&	(	CollisionRequestFlag	a,
		CollisionRequestFlag	b
	)

inline

Definition at line 1208 of file coal/collision_data.h.

◆ operator&=()

CollisionRequestFlag& coal::operator&=	(	CollisionRequestFlag &	a,
		CollisionRequestFlag	b
	)

inline

Definition at line 1225 of file coal/collision_data.h.

◆ operator<<() [1/4]

static std::ostream& coal::operator<<	(	std::ostream &	o,
		const Quatf &	q
	)

inlinestatic

Definition at line 49 of file coal/math/transform.h.

◆ operator<<() [2/4]

std::ostream& coal::operator<<	(	std::ostream &	os,
		const Box &	b
	)

Definition at line 74 of file test/geometric_shapes.cpp.

◆ operator<<() [3/4]

std::ostream& coal::operator<<	(	std::ostream &	os,
		const ShapeBase &
	)

Definition at line 70 of file test/geometric_shapes.cpp.

◆ operator<<() [4/4]

std::ostream & coal::operator<<	(	std::ostream &	os,
		const Transform3s &	tf
	)

Definition at line 379 of file utility.cpp.

◆ operator^()

CollisionRequestFlag coal::operator^	(	CollisionRequestFlag	a,
		CollisionRequestFlag	b
	)

inline

Definition at line 1214 of file coal/collision_data.h.

◆ operator^=()

CollisionRequestFlag& coal::operator^=	(	CollisionRequestFlag &	a,
		CollisionRequestFlag	b
	)

inline

Definition at line 1230 of file coal/collision_data.h.

◆ operator|()

CollisionRequestFlag coal::operator\|	(	CollisionRequestFlag	a,
		CollisionRequestFlag	b
	)

inline

Definition at line 1202 of file coal/collision_data.h.

◆ operator|=()

CollisionRequestFlag& coal::operator\|=	(	CollisionRequestFlag &	a,
		CollisionRequestFlag	b
	)

inline

Definition at line 1220 of file coal/collision_data.h.

◆ operator~()

CollisionRequestFlag coal::operator~ ( CollisionRequestFlag a )

inline

Definition at line 1198 of file coal/collision_data.h.

◆ propagateBVHFrontListCollisionRecurse()

void coal::propagateBVHFrontListCollisionRecurse	(	CollisionTraversalNodeBase *	node,
		const CollisionRequest &	,
		CollisionResult &	result,
		BVHFrontList *	front_list
	)

Definition at line 307 of file traversal_recurse.cpp.

◆ rand_interval()

CoalScalar coal::rand_interval	(	CoalScalar	rmin,
		CoalScalar	rmax
	)

Definition at line 92 of file utility.cpp.

◆ rectDistance()

CoalScalar coal::rectDistance	(	const Matrix3s &	Rab,
		Vec3s const &	Tab,
		const CoalScalar	a[2],
		const CoalScalar	b[2],
		Vec3s *	P = `NULL`,
		Vec3s *	Q = `NULL`
	)

Distance between two oriented rectangles; P and Q (optional return values) are the closest points in the rectangles, both are in the local frame of the first rectangle.

Definition at line 120 of file RSS.cpp.

◆ relativeTransform() [1/2]

template<typename Derived , typename OtherDerived >

void coal::relativeTransform	(	const Eigen::MatrixBase< Derived > &	R1,
		const Eigen::MatrixBase< OtherDerived > &	t1,
		const Eigen::MatrixBase< Derived > &	R2,
		const Eigen::MatrixBase< OtherDerived > &	t2,
		const Eigen::MatrixBase< Derived > &	R,
		const Eigen::MatrixBase< OtherDerived > &	t
	)

Definition at line 90 of file coal/internal/tools.h.

◆ relativeTransform() [2/2]

void coal::relativeTransform	(	const Transform3s &	tf1,
		const Transform3s &	tf2,
		Transform3s &	tf
	)

Definition at line 42 of file transform.cpp.

◆ relativeTransform2()

void coal::relativeTransform2	(	const Transform3s &	tf1,
		const Transform3s &	tf2,
		Transform3s &	tf
	)

Definition at line 47 of file transform.cpp.

◆ reorderTriangle()

void coal::reorderTriangle	(	const Convex< Triangle > *	convex_tri,
		Triangle &	tri
	)

Definition at line 24 of file src/shape/convex.cpp.

◆ saveOBJFile()

void coal::saveOBJFile	(	const char *	filename,
		std::vector< Vec3s > &	points,
		std::vector< Triangle > &	triangles
	)

Definition at line 163 of file utility.cpp.

◆ segCoords()

void coal::segCoords	(	CoalScalar &	t,
		CoalScalar &	u,
		CoalScalar	a,
		CoalScalar	b,
		CoalScalar	A_dot_B,
		CoalScalar	A_dot_T,
		CoalScalar	B_dot_T
	)

Finds the parameters t & u corresponding to the two closest points on a pair of line segments. The first segment is defined as Pa + A*t, 0 <= t <= a, where "Pa" is one endpoint of the segment, "A" is a unit vector pointing to the other endpoint, and t is a scalar that produces all the points between the two endpoints. Since "A" is a unit vector, "a" is the segment's length. The second segment is defined as Pb + B*u, 0 <= u <= b. Many of the terms needed by the algorithm are already computed for other purposes,so we just pass these terms into the function instead of complete specifications of each segment. "T" in the dot products is the vector betweeen Pa and Pb. Reference: "On fast computation of distance between line segments." Vladimir J. Lumelsky, in Information Processing Letters, no. 21, pages 55-61, 1985.

Definition at line 66 of file RSS.cpp.

◆ ShapeShapeContactPatch()

template<typename ShapeType1 , typename ShapeType2 >

void coal::ShapeShapeContactPatch	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const CollisionResult &	collision_result,
		const ContactPatchSolver *	csolver,
		const ContactPatchRequest &	request,
		ContactPatchResult &	result
	)

Definition at line 252 of file coal/internal/shape_shape_contact_patch_func.h.

◆ toEllipsoid()

void coal::toEllipsoid	(	Vec3s &	point,
		const Ellipsoid &	ellipsoid
	)

Takes a point, projects it on the unit sphere and applies an ellipsoid transformation to it. A point x belongs to the surface of an ellipsoid if x^T * A * x = 1, where A = diag(1/r**2) with r being the radii of the ellipsoid. Thus, the point y = A^(1/2) * x belongs to the unit sphere if y * y = 1. Therefore, the tranformation which brings y to x is A^(-1/2) = diag(r).

Definition at line 494 of file utility.cpp.

◆ toSphere()

void coal::toSphere ( Vec3s & point )

Takes a point and projects it onto the surface of the unit sphere.

Definition at line 483 of file utility.cpp.

◆ transform() [1/2]

Halfspace coal::transform	(	const Halfspace &	a,
		const Transform3s &	tf
	)

suppose the initial halfspace is n * x <= d after transform (R, T), x --> x' = R x + T and the new half space becomes n' * x' <= d' where n' = R * n and d' = d + n' * T

Definition at line 248 of file geometric_shapes_utility.cpp.

◆ transform() [2/2]

Plane coal::transform	(	const Plane &	a,
		const Transform3s &	tf
	)

suppose the initial halfspace is n * x <= d after transform (R, T), x --> x' = R x + T and the new half space becomes n' * x' <= d' where n' = R * n and d' = d + n' * T

Definition at line 263 of file geometric_shapes_utility.cpp.

◆ transformToHalfspaces()

std::array< Halfspace, 2 > coal::transformToHalfspaces	(	const Plane &	a,
		const Transform3s &	tf
	)

Definition at line 278 of file geometric_shapes_utility.cpp.

◆ translate() [1/2]

OBBRSS coal::translate	(	const OBBRSS &	bv,
		const Vec3s &	t
	)

Definition at line 42 of file OBBRSS.cpp.

◆ translate() [2/2]

RSS coal::translate	(	const RSS &	bv,
		const Vec3s &	t
	)

Definition at line 1006 of file RSS.cpp.

◆ translate< 16 >()

template KDOP<16> coal::translate< 16 >	(	const KDOP< 16 > &	,
		const Vec3s &
	)

◆ translate< 18 >()

template KDOP<18> coal::translate< 18 >	(	const KDOP< 18 > &	,
		const Vec3s &
	)

◆ translate< 24 >()

template KDOP<24> coal::translate< 24 >	(	const KDOP< 24 > &	,
		const Vec3s &
	)

◆ triple()

template<typename Derived >

static Derived::Scalar coal::triple	(	const Eigen::MatrixBase< Derived > &	x,
		const Eigen::MatrixBase< Derived > &	y,
		const Eigen::MatrixBase< Derived > &	z
	)

inlinestatic

Definition at line 52 of file coal/internal/tools.h.

◆ uniformRandomQuaternion()

Quatf coal::uniformRandomQuaternion ( )

inline

Uniformly random quaternion sphere. Code taken from Pinocchio (https://github.com/stack-of-tasks/pinocchio).

Definition at line 231 of file coal/math/transform.h.

◆ updateFrontList()

void coal::updateFrontList	(	BVHFrontList *	front_list,
		unsigned int	b1,
		unsigned int	b2
	)

inline

Add new front node into the front list.

Definition at line 69 of file coal/BVH/BVH_front.h.

Variable Documentation

◆ cosA

const double coal::cosA = sqrt(3.0) / 2.0

static

Definition at line 48 of file BV_fitter.cpp.

◆ EPA_DEFAULT_MAX_ITERATIONS

constexpr size_t coal::EPA_DEFAULT_MAX_ITERATIONS = 64

constexpr

EPA EPA build a polytope which maximum size is:

#iterations + 4 vertices
2 x #iterations + 4 faces

Definition at line 59 of file coal/narrowphase/narrowphase_defaults.h.

◆ EPA_DEFAULT_TOLERANCE

constexpr CoalScalar coal::EPA_DEFAULT_TOLERANCE = 1e-6

constexpr

Definition at line 60 of file coal/narrowphase/narrowphase_defaults.h.

◆ EPA_MINIMUM_TOLERANCE

constexpr CoalScalar coal::EPA_MINIMUM_TOLERANCE = 1e-6

constexpr

Definition at line 61 of file coal/narrowphase/narrowphase_defaults.h.

◆ GJK_DEFAULT_MAX_ITERATIONS

constexpr size_t coal::GJK_DEFAULT_MAX_ITERATIONS = 128

constexpr

GJK.

Definition at line 46 of file coal/narrowphase/narrowphase_defaults.h.

◆ GJK_DEFAULT_TOLERANCE

constexpr CoalScalar coal::GJK_DEFAULT_TOLERANCE = 1e-6

constexpr

Definition at line 47 of file coal/narrowphase/narrowphase_defaults.h.

◆ GJK_MINIMUM_TOLERANCE

constexpr CoalScalar coal::GJK_MINIMUM_TOLERANCE = 1e-6

constexpr

Note: if the considered shapes are on the order of the meter, and the convergence criterion of GJK is the default VDB criterion, setting a tolerance of 1e-6 on the GJK algorithm makes it precise up to the micro-meter. The same is true for EPA.

Definition at line 53 of file coal/narrowphase/narrowphase_defaults.h.

◆ invSinA

const double coal::invSinA = 2

static

Definition at line 47 of file BV_fitter.cpp.

◆ kIOS_RATIO

const double coal::kIOS_RATIO = 1.5

static

Definition at line 46 of file BV_fitter.cpp.

◆ pyfmt

const Eigen::IOFormat coal::pyfmt

Initial value:

= Eigen::IOFormat(

Eigen::StreamPrecision, Eigen::DontAlignCols, ", ", ", ", "", "", "[", "]")

Definition at line 85 of file utility.cpp.

◆ Quaternion3f

COAL_DEPRECATED typedef Eigen::Quaternion<CoalScalar> coal::Quaternion3f

Definition at line 46 of file coal/math/transform.h.

◆ UnitX

const Vec3s coal::UnitX = Vec3s(1, 0, 0)

Definition at line 88 of file utility.cpp.

◆ UnitY

const Vec3s coal::UnitY = Vec3s(0, 1, 0)

Definition at line 89 of file utility.cpp.

◆ UnitZ

const Vec3s coal::UnitZ = Vec3s(0, 0, 1)

Definition at line 90 of file utility.cpp.

◆ vfmt

const Eigen::IOFormat coal::vfmt

Initial value:

= Eigen::IOFormat(

Eigen::StreamPrecision, Eigen::DontAlignCols, ", ", ", ", "", "", "", "")

Definition at line 83 of file utility.cpp.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ AngleAxis

◆ BroadPhaseContinuousCollisionManagerd

◆ BroadPhaseContinuousCollisionManagerf

◆ BVHFrontList

◆ BVHModelPtr_t

◆ CoalScalar

◆ CollisionGeometryConstPtr_t

◆ CollisionGeometryPtr_t

◆ CollisionObjectConstPtr_t

◆ CollisionObjectPtr_t

◆ ContinuousCollisionCallBack

◆ ContinuousDistanceCallBack

◆ Matrix3s

◆ MatrixX2s

◆ Matrixx3i

◆ MatrixX3s

◆ MatrixXs

◆ OcTreeConstPtr_t

◆ OcTreePtr_t

◆ Quatf

◆ support_func_guess_t

◆ SupportSet

◆ Vec2s

◆ Vec3s

◆ Vec6s

◆ VecXs

Enumeration Type Documentation

◆ BVHBuildState

◆ BVHModelType

◆ BVHReturnCode

◆ CollisionRequestFlag

◆ GJKConvergenceCriterion

◆ GJKConvergenceCriterionType

◆ GJKInitialGuess

◆ GJKVariant

◆ NODE_TYPE

◆ OBJECT_TYPE

◆ SplitMethodType

Function Documentation

◆ _load()

◆ axisFromEigen()

◆ buildBox()

◆ BVHCollide() [1/2]

◆ BVHCollide() [2/2]

◆ BVHCollide< kIOS >()

◆ BVHCollide< OBB >()

◆ BVHCollide< OBBRSS >()

◆ BVHDistance() [1/2]

◆ BVHDistance() [2/2]

◆ BVHDistance< kIOS >()

◆ BVHDistance< OBBRSS >()

◆ BVHDistance< RSS >()

◆ BVHExtract() [1/9]

◆ BVHExtract() [2/9]

◆ BVHExtract() [3/9]

◆ BVHExtract() [4/9]

◆ BVHExtract() [5/9]

◆ BVHExtract() [6/9]

◆ BVHExtract() [7/9]

◆ BVHExtract() [8/9]

◆ BVHExtract() [9/9]

◆ checkResultLowerBound()

◆ circumCircleComputation()

◆ clipToRange()

◆ collide() [1/3]

◆ collide() [2/3]

◆ collide() [3/3]

◆ collisionNonRecurse()

◆ collisionRecurse()

◆ computeBV()

◆ computeBV< AABB, Box >()

◆ computeBV< AABB, Capsule >()