Classes | Namespaces | Typedefs | Functions
gjk_libccd.h File Reference
#include <ccd/ccd.h>
#include <ccd/quat.h>
#include <ccd/vec3.h>
#include "fcl/common/unused.h"
#include "fcl/geometry/shape/box.h"
#include "fcl/geometry/shape/capsule.h"
#include "fcl/geometry/shape/cone.h"
#include "fcl/geometry/shape/convex.h"
#include "fcl/geometry/shape/cylinder.h"
#include "fcl/geometry/shape/ellipsoid.h"
#include "fcl/geometry/shape/halfspace.h"
#include "fcl/geometry/shape/plane.h"
#include "fcl/geometry/shape/sphere.h"
#include "fcl/geometry/shape/triangle_p.h"
#include "fcl/narrowphase/detail/convexity_based_algorithm/simplex.h"
#include "fcl/narrowphase/detail/convexity_based_algorithm/polytope.h"
#include "fcl/narrowphase/detail/convexity_based_algorithm/alloc.h"
#include "fcl/narrowphase/detail/convexity_based_algorithm/list.h"
#include "fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd-inl.h"
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Classes

class  fcl::detail::GJKInitializer< S, T >
 initialize GJK stuffs More...
 
class  fcl::detail::GJKInitializer< S, Box< S > >
 initialize GJK Box More...
 
class  fcl::detail::GJKInitializer< S, Capsule< S > >
 initialize GJK Capsule More...
 
class  fcl::detail::GJKInitializer< S, Cone< S > >
 initialize GJK Cone More...
 
class  fcl::detail::GJKInitializer< S, Convex< S > >
 initialize GJK Convex More...
 
class  fcl::detail::GJKInitializer< S, Cylinder< S > >
 initialize GJK Cylinder More...
 
class  fcl::detail::GJKInitializer< S, Ellipsoid< S > >
 initialize GJK Ellipsoid More...
 
class  fcl::detail::GJKInitializer< S, Sphere< S > >
 initialize GJK Sphere More...
 

Namespaces

 fcl
 Main namespace.
 
 fcl::detail
 

Typedefs

using fcl::detail::GJKCenterFunction = void(*)(const void *obj, ccd_vec3_t *c)
 
using fcl::detail::GJKSupportFunction = void(*)(const void *obj, const ccd_vec3_t *dir_, ccd_vec3_t *v)
 callback function used by GJK algorithm More...
 

Functions

template<typename S >
FCL_EXPORT bool fcl::detail::GJKCollide (void *obj1, ccd_support_fn supp1, ccd_center_fn cen1, void *obj2, ccd_support_fn supp2, ccd_center_fn cen2, unsigned int max_iterations, S tolerance, Vector3< S > *contact_points, S *penetration_depth, Vector3< S > *normal)
 GJK collision algorithm. More...
 
template<typename S >
FCL_EXPORT bool fcl::detail::GJKDistance (void *obj1, ccd_support_fn supp1, void *obj2, ccd_support_fn supp2, unsigned int max_iterations, S tolerance, S *dist, Vector3< S > *p1, Vector3< S > *p2)
 
template<typename S >
FCL_EXPORT bool fcl::detail::GJKSignedDistance (void *obj1, ccd_support_fn supp1, void *obj2, ccd_support_fn supp2, unsigned int max_iterations, S tolerance, S *dist, Vector3< S > *p1, Vector3< S > *p2)
 
template<typename S >
FCL_EXPORT void * fcl::detail::triCreateGJKObject (const Vector3< S > &P1, const Vector3< S > &P2, const Vector3< S > &P3)
 
template<typename S >
FCL_EXPORT void * fcl::detail::triCreateGJKObject (const Vector3< S > &P1, const Vector3< S > &P2, const Vector3< S > &P3, const Transform3< S > &tf)
 
void fcl::detail::triDeleteGJKObject (void *o_)
 
GJKCenterFunction fcl::detail::triGetCenterFunction ()
 
GJKSupportFunction fcl::detail::triGetSupportFunction ()
 initialize GJK Triangle More...
 


fcl
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autogenerated on Sat Sep 11 2021 02:37:43