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43 #include "../narrowphase/details.h"
Eigen::Matrix< CoalScalar, 3, 1 > Vec3s
Half Space: this is equivalent to the Plane in ODE. A Half space has a priviledged direction: the dir...
CoalScalar halfspaceDistance(const Halfspace &h, const Transform3s &tf1, const ShapeBase &s, const Transform3s &tf2, Vec3s &p1, Vec3s &p2, Vec3s &normal)
collision and distance solver based on the GJK and EPA algorithms. Originally, GJK and EPA were imple...
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)
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.
The geometry for the object for collision or distance computation.
Center at zero point sphere.
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)
hpp-fcl
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autogenerated on Sat Nov 23 2024 03:44:59