narrowphase.h File Reference

#include <limits>
#include <iostream>
#include <hpp/fcl/narrowphase/gjk.h>
#include <hpp/fcl/collision_data.h>

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Go to the source code of this file.

Classes
struct	hpp::fcl::GJKSolver
	collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the GJK in bullet) More...

Namespaces
	hpp
	Main namespace.
	hpp::fcl

Macros
#define	SHAPE_DISTANCE_SPECIALIZATION(S1, S2)
#define	SHAPE_DISTANCE_SPECIALIZATION_BASE(S1, S2)
#define	SHAPE_INTERSECT_SPECIALIZATION(S1, S2)
#define	SHAPE_INTERSECT_SPECIALIZATION_BASE(S1, S2)

Functions
	hpp::fcl::SHAPE_DISTANCE_SPECIALIZATION (Sphere, Box)
	hpp::fcl::SHAPE_DISTANCE_SPECIALIZATION (Sphere, Capsule)
	hpp::fcl::SHAPE_DISTANCE_SPECIALIZATION (Sphere, Cylinder)
	hpp::fcl::SHAPE_DISTANCE_SPECIALIZATION_BASE (Capsule, Capsule)
	hpp::fcl::SHAPE_DISTANCE_SPECIALIZATION_BASE (Sphere, Sphere)
	hpp::fcl::SHAPE_DISTANCE_SPECIALIZATION_BASE (TriangleP, TriangleP)
	hpp::fcl::SHAPE_INTERSECT_SPECIALIZATION (Halfspace, Box)
	hpp::fcl::SHAPE_INTERSECT_SPECIALIZATION (Halfspace, Capsule)
	hpp::fcl::SHAPE_INTERSECT_SPECIALIZATION (Halfspace, Cone)
	hpp::fcl::SHAPE_INTERSECT_SPECIALIZATION (Halfspace, Cylinder)
	hpp::fcl::SHAPE_INTERSECT_SPECIALIZATION (Halfspace, Plane)
	hpp::fcl::SHAPE_INTERSECT_SPECIALIZATION (Plane, Box)
	hpp::fcl::SHAPE_INTERSECT_SPECIALIZATION (Plane, Capsule)
	hpp::fcl::SHAPE_INTERSECT_SPECIALIZATION (Plane, Cone)
	hpp::fcl::SHAPE_INTERSECT_SPECIALIZATION (Plane, Cylinder)
	hpp::fcl::SHAPE_INTERSECT_SPECIALIZATION (Sphere, Box)
	hpp::fcl::SHAPE_INTERSECT_SPECIALIZATION (Sphere, Capsule)
	hpp::fcl::SHAPE_INTERSECT_SPECIALIZATION (Sphere, Halfspace)
	hpp::fcl::SHAPE_INTERSECT_SPECIALIZATION (Sphere, Plane)
	hpp::fcl::SHAPE_INTERSECT_SPECIALIZATION_BASE (Sphere, Sphere)
Shape intersection specializations
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_SELF (Sphere,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Sphere, Capsule,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Sphere, Halfspace,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Sphere, Plane,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Box, Halfspace,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Box, Plane,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Capsule, Halfspace,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Capsule, Plane,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Cylinder, Halfspace,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Cylinder, Plane,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Cone, Halfspace,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Cone, Plane,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_SELF (Halfspace,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_SELF (Plane,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Plane, Halfspace,)
Shape triangle interaction specializations
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_TRIANGLE (Sphere,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_TRIANGLE (Halfspace,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_TRIANGLE (Plane,)
Shape distance specializations
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR (Sphere, Box,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR (Sphere, Capsule,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR (Sphere, Cylinder,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF (Sphere,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF (Capsule,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF (TriangleP,)

Shape intersection specializations
#define	HPP_FCL_DECLARE_SHAPE_INTERSECT(Shape1, Shape2, doc)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Box, Halfspace,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Box, Plane,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Capsule, Halfspace,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Capsule, Plane,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Cone, Halfspace,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Cone, Plane,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Cylinder, Halfspace,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Cylinder, Plane,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Plane, Halfspace,)
#define	HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR(Shape1, Shape2, doc)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Sphere, Capsule,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Sphere, Halfspace,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Sphere, Plane,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_SELF (Halfspace,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_SELF (Plane,)
#define	HPP_FCL_DECLARE_SHAPE_INTERSECT_SELF(Shape, doc)   HPP_FCL_DECLARE_SHAPE_INTERSECT(Shape, Shape, doc)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_SELF (Sphere,)

Shape triangle interaction specializations
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_TRIANGLE (Halfspace,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_TRIANGLE (Plane,)
#define	HPP_FCL_DECLARE_SHAPE_TRIANGLE(Shape, doc)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_TRIANGLE (Sphere,)

Shape distance specializations
#define	HPP_FCL_DECLARE_SHAPE_DISTANCE(Shape1, Shape2, doc)
#define	HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR(Shape1, Shape2, doc)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR (Sphere, Box,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR (Sphere, Capsule,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR (Sphere, Cylinder,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF (Capsule,)
#define	HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF(Shape, doc)   HPP_FCL_DECLARE_SHAPE_DISTANCE(Shape, Shape, doc)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF (Sphere,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF (TriangleP,)

Macro Definition Documentation

HPP_FCL_DECLARE_SHAPE_DISTANCE

#define HPP_FCL_DECLARE_SHAPE_DISTANCE	(		Shape1,
			Shape2,
			doc
	)

Value:

     \
  doc template <>                                                   \
  bool HPP_FCL_DLLAPI GJKSolver::shapeDistance<Shape1, Shape2>(     \
      const Shape1& s1, const Transform3f& tf1, const Shape2& s2,   \
      const Transform3f& tf2, FCL_REAL& dist, Vec3f& p1, Vec3f& p2, \
      Vec3f& normal) const

Definition at line 689 of file narrowphase.h.

HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR

#define HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR	(		Shape1,
			Shape2,
			doc
	)

Value:

  HPP_FCL_DECLARE_SHAPE_DISTANCE(Shape1, Shape2, doc);           \
  HPP_FCL_DECLARE_SHAPE_DISTANCE(Shape2, Shape1, doc)

Definition at line 698 of file narrowphase.h.

HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF

#define HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF	(		Shape,
			doc
	)		HPP_FCL_DECLARE_SHAPE_DISTANCE(Shape, Shape, doc)

Definition at line 696 of file narrowphase.h.

HPP_FCL_DECLARE_SHAPE_INTERSECT

#define HPP_FCL_DECLARE_SHAPE_INTERSECT	(		Shape1,
			Shape2,
			doc
	)

Value:

  \
  doc template <>                                                 \
  HPP_FCL_DLLAPI bool GJKSolver::shapeIntersect<Shape1, Shape2>(  \
      const Shape1& s1, const Transform3f& tf1, const Shape2& s2, \
      const Transform3f& tf2, FCL_REAL& distance_lower_bound,     \
      bool enable_penetration, Vec3f* contact_points, Vec3f* normal) const

Definition at line 605 of file narrowphase.h.

HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR

#define HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR	(		Shape1,
			Shape2,
			doc
	)

Value:

  HPP_FCL_DECLARE_SHAPE_INTERSECT(Shape1, Shape2, doc);           \
  HPP_FCL_DECLARE_SHAPE_INTERSECT(Shape2, Shape1, doc)

Definition at line 614 of file narrowphase.h.

HPP_FCL_DECLARE_SHAPE_INTERSECT_SELF

#define HPP_FCL_DECLARE_SHAPE_INTERSECT_SELF	(		Shape,
			doc
	)		HPP_FCL_DECLARE_SHAPE_INTERSECT(Shape, Shape, doc)

Definition at line 612 of file narrowphase.h.

HPP_FCL_DECLARE_SHAPE_TRIANGLE

#define HPP_FCL_DECLARE_SHAPE_TRIANGLE	(		Shape,
			doc
	)

Value:

 \
  doc template <>                                                   \
  HPP_FCL_DLLAPI bool GJKSolver::shapeTriangleInteraction<Shape>(   \
      const Shape& s, const Transform3f& tf1, const Vec3f& P1,      \
      const Vec3f& P2, const Vec3f& P3, const Transform3f& tf2,     \
      FCL_REAL& distance, Vec3f& p1, Vec3f& p2, Vec3f& normal) const

Definition at line 668 of file narrowphase.h.

SHAPE_DISTANCE_SPECIALIZATION

#define SHAPE_DISTANCE_SPECIALIZATION	(		S1,
			S2
	)

Value:

  SHAPE_DISTANCE_SPECIALIZATION_BASE(S1, S2); \
  SHAPE_DISTANCE_SPECIALIZATION_BASE(S2, S1)

Definition at line 582 of file narrowphase.h.

SHAPE_DISTANCE_SPECIALIZATION_BASE

#define SHAPE_DISTANCE_SPECIALIZATION_BASE	(		S1,
			S2
	)

Value:

  template <>                                                       \
  HPP_FCL_DLLAPI bool GJKSolver::shapeDistance<S1, S2>(             \
      const S1& s1, const Transform3f& tf1, const S2& s2,           \
      const Transform3f& tf2, FCL_REAL& dist, Vec3f& p1, Vec3f& p2, \
      Vec3f& normal) const

Definition at line 575 of file narrowphase.h.

SHAPE_INTERSECT_SPECIALIZATION

#define SHAPE_INTERSECT_SPECIALIZATION	(		S1,
			S2
	)

Value:

  SHAPE_INTERSECT_SPECIALIZATION_BASE(S1, S2); \
  SHAPE_INTERSECT_SPECIALIZATION_BASE(S2, S1)

Definition at line 551 of file narrowphase.h.

SHAPE_INTERSECT_SPECIALIZATION_BASE

#define SHAPE_INTERSECT_SPECIALIZATION_BASE	(		S1,
			S2
	)

Value:

  template <>                                                       \
  HPP_FCL_DLLAPI bool GJKSolver::shapeIntersect<S1, S2>(            \
      const S1& s1, const Transform3f& tf1, const S2& s2,           \
      const Transform3f& tf2, FCL_REAL& distance_lower_bound, bool, \
      Vec3f* contact_points, Vec3f* normal) const

Definition at line 544 of file narrowphase.h.