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45 #include "../narrowphase/details.h"
56 const Box& s1 =
static_cast<const Box&
>(*o1);
57 const Plane& s2 =
static_cast<const Plane&
>(*o2);
73 const Plane& s1 =
static_cast<const Plane&
>(*o1);
74 const Box& s2 =
static_cast<const Box&
>(*o2);
int b2
information about the nearest point in object 2 if object 2 is mesh or point cloud,...
FCL_REAL ShapeShapeDistance< Plane, Box >(const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *, const DistanceRequest &, DistanceResult &result)
bool boxPlaneIntersect(const Box &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)
box half space, a, b, c = +/- edge size n^T * (R(o + a v1 + b v2 + c v3) + T) ~ d so (R^T n) (a v1 + ...
Vec3f nearest_points[2]
nearest points
const CollisionGeometry * o1
collision object 1
The geometry for the object for collision or distance computation.
Vec3f normal
In case both objects are in collision, store the normal.
FCL_REAL ShapeShapeDistance< Box, Plane >(const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *, const DistanceRequest &, DistanceResult &result)
collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the ...
int b1
information about the nearest point in object 1 if object 1 is mesh or point cloud,...
FCL_REAL min_distance
minimum distance between two objects. if two objects are in collision, min_distance <= 0.
request to the distance computation
const CollisionGeometry * o2
collision object 2
Center at zero point, axis aligned box.
hpp-fcl
Author(s):
autogenerated on Fri Aug 2 2024 02:45:12