coal::internal Namespace Reference

Classes
struct	Loader
struct	memory_footprint_evaluator
struct	memory_footprint_evaluator<::coal::BVHModel< BV > >
struct	Neighbors
struct	obbDisjoint_check_Ai_cross_Bi
struct	TriangleAndVertices

Functions
COAL_DLLAPI void	buildMesh (const coal::Vec3s &scale, const aiScene *scene, unsigned vertices_offset, TriangleAndVertices &tv)
	Recursive procedure for building a mesh. More...
CoalScalar	clamp (const CoalScalar &num, const CoalScalar &denom)
	Clamp num / denom in [0, 1]. More...
void	clamped_linear (Vec3s &a_sd, const Vec3s &a, const CoalScalar &s_n, const CoalScalar &s_d, const Vec3s &d)
	Clamp s=s_n/s_d in [0, 1] and stores a + s * d in a_sd. More...
void	computeNeighbors (const std::vector< Vec6s > &boxes, std::vector< Neighbors > &neighbors)
template<class BoundingVolume >
void	meshFromAssimpScene (const coal::Vec3s &scale, const aiScene *scene, const shared_ptr< BVHModel< BoundingVolume > > &mesh)
	Convert an assimp scene to a mesh. More...
CoalScalar	obbDisjoint_check_A_axis (const Vec3s &T, const Vec3s &a, const Vec3s &b, const Matrix3s &Bf)
CoalScalar	obbDisjoint_check_B_axis (const Matrix3s &B, const Vec3s &T, const Vec3s &a, const Vec3s &b, const Matrix3s &Bf)
unsigned	recurseBuildMesh (const coal::Vec3s &scale, const aiScene *scene, const aiNode *node, unsigned vertices_offset, TriangleAndVertices &tv)
	Recursive procedure for building a mesh. More...
template<>
CoalScalar	ShapeShapeDistance< Box, Halfspace > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< Box, Plane > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< Box, Sphere > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< Capsule, Capsule > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &wp1, Vec3s &wp2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< Capsule, Halfspace > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< Capsule, Plane > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< Capsule, Sphere > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< Cone, Halfspace > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< Cone, Plane > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< ConvexBase, Halfspace > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< ConvexBase, Plane > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< Cylinder, Halfspace > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< Cylinder, Plane > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< Cylinder, Sphere > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< Ellipsoid, Halfspace > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< Ellipsoid, Plane > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< Halfspace, Box > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< Halfspace, Capsule > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< Halfspace, Cone > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< Halfspace, ConvexBase > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< Halfspace, Cylinder > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< Halfspace, Ellipsoid > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< Halfspace, Halfspace > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< Halfspace, Plane > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< Halfspace, Sphere > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< Halfspace, TriangleP > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< Plane, Box > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< Plane, Capsule > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< Plane, Cone > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< Plane, ConvexBase > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< Plane, Cylinder > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< Plane, Ellipsoid > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< Plane, Halfspace > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< Plane, Plane > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< Plane, Sphere > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< Plane, TriangleP > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< Sphere, Box > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< Sphere, Capsule > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< Sphere, Cylinder > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< Sphere, Halfspace > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< Sphere, Plane > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< Sphere, Sphere > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< Sphere, TriangleP > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< TriangleP, Halfspace > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< TriangleP, Plane > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< TriangleP, Sphere > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
template<>
CoalScalar	ShapeShapeDistance< TriangleP, TriangleP > (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *solver, const bool, Vec3s &p1, Vec3s &p2, Vec3s &normal)
void	updateDistanceLowerBoundFromBV (const CollisionRequest &, CollisionResult &res, const CoalScalar sqrDistLowerBound)
void	updateDistanceLowerBoundFromLeaf (const CollisionRequest &, CollisionResult &res, const CoalScalar &distance, const Vec3s &p0, const Vec3s &p1, const Vec3s &normal)

Function Documentation

buildMesh()

void coal::internal::buildMesh	(	const coal::Vec3s &	scale,
		const aiScene *	scene,
		unsigned	vertices_offset,
		TriangleAndVertices &	tv
	)

Recursive procedure for building a mesh.

Parameters

[in]	scale	Scale to apply when reading the ressource
[in]	scene	Pointer to the assimp scene
[in]	vertices_offset	Current number of vertices in the model
	tv	Triangles and Vertices of the mesh submodels

Definition at line 158 of file assimp.cpp.

clamp()

CoalScalar coal::internal::clamp	(	const CoalScalar &	num,
		const CoalScalar &	denom
	)

Clamp num / denom in [0, 1].

Definition at line 51 of file src/distance/capsule_capsule.cpp.

clamped_linear()

void coal::internal::clamped_linear	(	Vec3s &	a_sd,
		const Vec3s &	a,
		const CoalScalar &	s_n,
		const CoalScalar &	s_d,
		const Vec3s &	d
	)

Clamp s=s_n/s_d in [0, 1] and stores a + s * d in a_sd.

Definition at line 62 of file src/distance/capsule_capsule.cpp.

computeNeighbors()

void coal::internal::computeNeighbors	(	const std::vector< Vec6s > &	boxes,
		std::vector< Neighbors > &	neighbors
	)

Definition at line 58 of file src/octree.cpp.

meshFromAssimpScene()

template<class BoundingVolume >

void coal::internal::meshFromAssimpScene ( const coal::Vec3s &  scale, const aiScene *  scene, const shared_ptr< BVHModel< BoundingVolume > > &  mesh  )

inline

Convert an assimp scene to a mesh.

Parameters

[in]	scale	Scale to apply when reading the ressource
[in]	scene	Pointer to the assimp scene
[out]	mesh	The mesh that must be built

Definition at line 89 of file coal/mesh_loader/assimp.h.

obbDisjoint_check_A_axis()

CoalScalar coal::internal::obbDisjoint_check_A_axis ( const Vec3s &  T, const Vec3s &  a, const Vec3s &  b, const Matrix3s &  Bf  )

inline

Definition at line 289 of file OBB.cpp.

obbDisjoint_check_B_axis()

CoalScalar coal::internal::obbDisjoint_check_B_axis ( const Matrix3s &  B, const Vec3s &  T, const Vec3s &  a, const Vec3s &  b, const Matrix3s &  Bf  )

inline

Definition at line 297 of file OBB.cpp.

recurseBuildMesh()

unsigned coal::internal::recurseBuildMesh	(	const coal::Vec3s &	scale,
		const aiScene *	scene,
		const aiNode *	node,
		unsigned	vertices_offset,
		TriangleAndVertices &	tv
	)

Recursive procedure for building a mesh.

Parameters

[in]	scale	Scale to apply when reading the ressource
[in]	scene	Pointer to the assimp scene
[in]	node	Current node of the scene
[in]	vertices_offset	Current number of vertices in the model
	tv	Triangles and Vertices of the mesh submodels

Definition at line 109 of file assimp.cpp.

ShapeShapeDistance< Box, Halfspace >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Box, Halfspace >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 51 of file box_halfspace.cpp.

ShapeShapeDistance< Box, Plane >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Box, Plane >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 50 of file box_plane.cpp.

ShapeShapeDistance< Box, Sphere >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Box, Sphere >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 50 of file box_sphere.cpp.

ShapeShapeDistance< Capsule, Capsule >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Capsule, Capsule >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	wp1,
		Vec3s &	wp2,
		Vec3s &	normal
	)

Parameters

wp1,wp2	witness points on the capsules
normal	normal pointing from capsule1 to capsule2

Definition at line 80 of file src/distance/capsule_capsule.cpp.

ShapeShapeDistance< Capsule, Halfspace >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Capsule, Halfspace >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 50 of file capsule_halfspace.cpp.

ShapeShapeDistance< Capsule, Plane >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Capsule, Plane >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 50 of file capsule_plane.cpp.

ShapeShapeDistance< Capsule, Sphere >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Capsule, Sphere >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 57 of file sphere_capsule.cpp.

ShapeShapeDistance< Cone, Halfspace >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Cone, Halfspace >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 50 of file cone_halfspace.cpp.

ShapeShapeDistance< Cone, Plane >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Cone, Plane >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 50 of file cone_plane.cpp.

ShapeShapeDistance< ConvexBase, Halfspace >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< ConvexBase, Halfspace >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 46 of file convex_halfspace.cpp.

ShapeShapeDistance< ConvexBase, Plane >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< ConvexBase, Plane >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 46 of file convex_plane.cpp.

ShapeShapeDistance< Cylinder, Halfspace >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Cylinder, Halfspace >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 50 of file cylinder_halfspace.cpp.

ShapeShapeDistance< Cylinder, Plane >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Cylinder, Plane >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 50 of file cylinder_plane.cpp.

ShapeShapeDistance< Cylinder, Sphere >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Cylinder, Sphere >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 60 of file sphere_cylinder.cpp.

ShapeShapeDistance< Ellipsoid, Halfspace >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Ellipsoid, Halfspace >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 48 of file ellipsoid_halfspace.cpp.

ShapeShapeDistance< Ellipsoid, Plane >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Ellipsoid, Plane >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 47 of file ellipsoid_plane.cpp.

ShapeShapeDistance< Halfspace, Box >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Halfspace, Box >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 64 of file box_halfspace.cpp.

ShapeShapeDistance< Halfspace, Capsule >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Halfspace, Capsule >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 63 of file capsule_halfspace.cpp.

ShapeShapeDistance< Halfspace, Cone >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Halfspace, Cone >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 63 of file cone_halfspace.cpp.

ShapeShapeDistance< Halfspace, ConvexBase >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Halfspace, ConvexBase >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 59 of file convex_halfspace.cpp.

ShapeShapeDistance< Halfspace, Cylinder >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Halfspace, Cylinder >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 63 of file cylinder_halfspace.cpp.

ShapeShapeDistance< Halfspace, Ellipsoid >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Halfspace, Ellipsoid >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 61 of file ellipsoid_halfspace.cpp.

ShapeShapeDistance< Halfspace, Halfspace >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Halfspace, Halfspace >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 47 of file halfspace_halfspace.cpp.

ShapeShapeDistance< Halfspace, Plane >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Halfspace, Plane >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 47 of file halfspace_plane.cpp.

ShapeShapeDistance< Halfspace, Sphere >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Halfspace, Sphere >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 63 of file sphere_halfspace.cpp.

ShapeShapeDistance< Halfspace, TriangleP >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Halfspace, TriangleP >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 59 of file triangle_halfspace.cpp.

ShapeShapeDistance< Plane, Box >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Plane, Box >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 65 of file box_plane.cpp.

ShapeShapeDistance< Plane, Capsule >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Plane, Capsule >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 63 of file capsule_plane.cpp.

ShapeShapeDistance< Plane, Cone >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Plane, Cone >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 63 of file cone_plane.cpp.

ShapeShapeDistance< Plane, ConvexBase >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Plane, ConvexBase >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 59 of file convex_plane.cpp.

ShapeShapeDistance< Plane, Cylinder >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Plane, Cylinder >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 63 of file cylinder_plane.cpp.

ShapeShapeDistance< Plane, Ellipsoid >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Plane, Ellipsoid >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 60 of file ellipsoid_plane.cpp.

ShapeShapeDistance< Plane, Halfspace >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Plane, Halfspace >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 57 of file halfspace_plane.cpp.

ShapeShapeDistance< Plane, Plane >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Plane, Plane >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 47 of file plane_plane.cpp.

ShapeShapeDistance< Plane, Sphere >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Plane, Sphere >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 63 of file sphere_plane.cpp.

ShapeShapeDistance< Plane, TriangleP >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Plane, TriangleP >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 59 of file triangle_plane.cpp.

ShapeShapeDistance< Sphere, Box >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Sphere, Box >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 60 of file box_sphere.cpp.

ShapeShapeDistance< Sphere, Capsule >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Sphere, Capsule >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 47 of file sphere_capsule.cpp.

ShapeShapeDistance< Sphere, Cylinder >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Sphere, Cylinder >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 50 of file sphere_cylinder.cpp.

ShapeShapeDistance< Sphere, Halfspace >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Sphere, Halfspace >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 50 of file sphere_halfspace.cpp.

ShapeShapeDistance< Sphere, Plane >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Sphere, Plane >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 50 of file sphere_plane.cpp.

ShapeShapeDistance< Sphere, Sphere >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Sphere, Sphere >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 56 of file sphere_sphere.cpp.

ShapeShapeDistance< Sphere, TriangleP >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< Sphere, TriangleP >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 59 of file triangle_sphere.cpp.

ShapeShapeDistance< TriangleP, Halfspace >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< TriangleP, Halfspace >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 46 of file triangle_halfspace.cpp.

ShapeShapeDistance< TriangleP, Plane >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< TriangleP, Plane >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 46 of file triangle_plane.cpp.

ShapeShapeDistance< TriangleP, Sphere >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< TriangleP, Sphere >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 46 of file triangle_sphere.cpp.

ShapeShapeDistance< TriangleP, TriangleP >()

template<>

CoalScalar coal::internal::ShapeShapeDistance< TriangleP, TriangleP >	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const GJKSolver *	solver,
		const bool	,
		Vec3s &	p1,
		Vec3s &	p2,
		Vec3s &	normal
	)

Definition at line 46 of file triangle_triangle.cpp.

updateDistanceLowerBoundFromBV()

void coal::internal::updateDistanceLowerBoundFromBV ( const CollisionRequest &  , CollisionResult &  res, const CoalScalar  sqrDistLowerBound  )

inline

Definition at line 1175 of file coal/collision_data.h.

updateDistanceLowerBoundFromLeaf()

void coal::internal::updateDistanceLowerBoundFromLeaf ( const CollisionRequest &  , CollisionResult &  res, const CoalScalar &  distance, const Vec3s &  p0, const Vec3s &  p1, const Vec3s &  normal  )

inline

Definition at line 1184 of file coal/collision_data.h.