fcl: gjk.cpp File Reference

#include "fcl/narrowphase/gjk.h"

Include dependency graph for gjk.cpp:

Namespaces
namespace	fcl
	Main namespace.
namespace	fcl::details
	FCL internals. Ignore this :) unless you are God.
Functions
Vec3f	fcl::details::getSupport (const ShapeBase *shape, const Vec3f &dir)
	the support function for shape
FCL_REAL	fcl::details::projectOrigin (const Vec3f &a, const Vec3f &b, FCL_REAL *w, size_t &m)
	project origin on to a line (a, b). w[0:1] return the (0, 1) parameterization of the projected point. m is a encode about the result case: 0x10--> project is larger than b; 0x01--> project is smaller than a; 0x11-> within the line; return value is distance between the origin and its projection.
FCL_REAL	fcl::details::projectOrigin (const Vec3f &a, const Vec3f &b, const Vec3f &c, FCL_REAL *w, size_t &m)
	project origin on to a triangle (a, b, c). w[0:2] return the (0, 1) parameterization of the projected point. m is a encode about the result case. return value is distance between the origin and its projection.
FCL_REAL	fcl::details::projectOrigin (const Vec3f &a, const Vec3f &b, const Vec3f &c, const Vec3f &d, FCL_REAL *w, size_t &m)
	project origin on to a tetrahedra (a, b, c, d). w[0:3] return the (0, 1) parameterization of the projected point. m is a encode about the result case. return value is distance between the origin and its projection.

Namespaces