Inheritance diagram for fcl::detail::ExtractClosestPoint:

Protected Member Functions
void	EvaluateExtractClosestPoint (ccd_simplex_t simplex, const Vector3d &p0_expected, const Vector3d &p1_expected, ccd_vec3_t closest, const char *message)

void	SetUp () override

Static Protected Member Functions
static Vector3d	lerp (const Vector3d &a, const Vector3d &b, double s)

static void	write_support (const Vector3d &minkowski_diff, const Vector3d &v0, const Vector3d &v1, ccd_support_t *support)

Protected Attributes
const double	kTolerance {constants<ccd_real_t>::eps_78()}

ccd_simplex_t	simplex_

const Vector3d	t1_ [3] = {{0, 0.25, 0.25}, {1, 0.25, 0.25}, {0.5, 0.8, 1.0}}

const Vector3d	v0_ {0.5, 1, 0}

Detailed Description

Member Function Documentation

void fcl::detail::ExtractClosestPoint::EvaluateExtractClosestPoint	(	ccd_simplex_t *	simplex,
		const Vector3d &	p0_expected,
		const Vector3d &	p1_expected,
		ccd_vec3_t *	closest,
		const char *	message
	)

inlineprotected

static Vector3d fcl::detail::ExtractClosestPoint::lerp	(	const Vector3d &	a,
		const Vector3d &	b,
		double	s
	)

inlinestaticprotected

void fcl::detail::ExtractClosestPoint::SetUp ( )

inlineoverrideprotected

static void fcl::detail::ExtractClosestPoint::write_support	(	const Vector3d &	minkowski_diff,
		const Vector3d &	v0,
		const Vector3d &	v1,
		ccd_support_t *	support
	)