gjk_solver_libccd-inl.h File Reference

#include "fcl/narrowphase/detail/gjk_solver_libccd.h"
#include <algorithm>
#include "fcl/common/unused.h"
#include "fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd.h"
#include "fcl/narrowphase/detail/primitive_shape_algorithm/capsule_capsule.h"
#include "fcl/narrowphase/detail/primitive_shape_algorithm/sphere_box.h"
#include "fcl/narrowphase/detail/primitive_shape_algorithm/sphere_capsule.h"
#include "fcl/narrowphase/detail/primitive_shape_algorithm/sphere_cylinder.h"
#include "fcl/narrowphase/detail/primitive_shape_algorithm/sphere_sphere.h"
#include "fcl/narrowphase/detail/primitive_shape_algorithm/sphere_triangle.h"
#include "fcl/narrowphase/detail/primitive_shape_algorithm/box_box.h"
#include "fcl/narrowphase/detail/primitive_shape_algorithm/halfspace.h"
#include "fcl/narrowphase/detail/primitive_shape_algorithm/plane.h"
#include "fcl/narrowphase/detail/failed_at_this_configuration.h"

Include dependency graph for gjk_solver_libccd-inl.h:

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Go to the source code of this file.

Classes
struct	fcl::detail::ShapeDistanceLibccdImpl< S, Shape1, Shape2 >
struct	fcl::detail::ShapeDistanceLibccdImpl< S, Box< S >, Sphere< S > >
struct	fcl::detail::ShapeDistanceLibccdImpl< S, Capsule< S >, Capsule< S > >
struct	fcl::detail::ShapeDistanceLibccdImpl< S, Capsule< S >, Sphere< S > >
struct	fcl::detail::ShapeDistanceLibccdImpl< S, Cylinder< S >, Sphere< S > >
struct	fcl::detail::ShapeDistanceLibccdImpl< S, Sphere< S >, Box< S > >
struct	fcl::detail::ShapeDistanceLibccdImpl< S, Sphere< S >, Capsule< S > >
struct	fcl::detail::ShapeDistanceLibccdImpl< S, Sphere< S >, Cylinder< S > >
struct	fcl::detail::ShapeDistanceLibccdImpl< S, Sphere< S >, Sphere< S > >
struct	fcl::detail::ShapeIntersectLibccdImpl< S, Shape1, Shape2 >
struct	fcl::detail::ShapeIntersectLibccdImpl< S, Halfspace< S >, Halfspace< S > >
struct	fcl::detail::ShapeIntersectLibccdImpl< S, Halfspace< S >, Plane< S > >
struct	fcl::detail::ShapeIntersectLibccdImpl< S, Plane< S >, Halfspace< S > >
struct	fcl::detail::ShapeIntersectLibccdImpl< S, Plane< S >, Plane< S > >
struct	fcl::detail::ShapeSignedDistanceLibccdImpl< S, Shape1, Shape2 >
struct	fcl::detail::ShapeTransformedTriangleDistanceLibccdImpl< S, Shape >
struct	fcl::detail::ShapeTransformedTriangleDistanceLibccdImpl< S, Sphere< S > >
struct	fcl::detail::ShapeTransformedTriangleIntersectLibccdImpl< S, Shape >
struct	fcl::detail::ShapeTransformedTriangleIntersectLibccdImpl< S, Halfspace< S > >
struct	fcl::detail::ShapeTransformedTriangleIntersectLibccdImpl< S, Plane< S > >
struct	fcl::detail::ShapeTransformedTriangleIntersectLibccdImpl< S, Sphere< S > >
struct	fcl::detail::ShapeTriangleDistanceLibccdImpl< S, Shape >
struct	fcl::detail::ShapeTriangleDistanceLibccdImpl< S, Sphere< S > >
struct	fcl::detail::ShapeTriangleIntersectLibccdImpl< S, Shape >
struct	fcl::detail::ShapeTriangleIntersectLibccdImpl< S, Sphere< S > >

Namespaces
	fcl
	Main namespace.
	fcl::detail

Macros
#define	FCL_GJK_LIBCCD_SHAPE_INTERSECT(SHAPE, ALG)   FCL_GJK_LIBCCD_SHAPE_SHAPE_INTERSECT_REG(SHAPE, SHAPE, ALG)
#define	FCL_GJK_LIBCCD_SHAPE_SHAPE_INTERSECT(SHAPE1, SHAPE2, ALG)
#define	FCL_GJK_LIBCCD_SHAPE_SHAPE_INTERSECT_INV(SHAPE1, SHAPE2, ALG)
#define	FCL_GJK_LIBCCD_SHAPE_SHAPE_INTERSECT_REG(SHAPE1, SHAPE2, ALG)

Macro Definition Documentation

FCL_GJK_LIBCCD_SHAPE_INTERSECT

#define FCL_GJK_LIBCCD_SHAPE_INTERSECT	(		SHAPE,
			ALG
	)		FCL_GJK_LIBCCD_SHAPE_SHAPE_INTERSECT_REG(SHAPE, SHAPE, ALG)

Definition at line 238 of file gjk_solver_libccd-inl.h.

FCL_GJK_LIBCCD_SHAPE_SHAPE_INTERSECT

#define FCL_GJK_LIBCCD_SHAPE_SHAPE_INTERSECT	(		SHAPE1,
			SHAPE2,
			ALG
	)

Value:

  FCL_GJK_LIBCCD_SHAPE_SHAPE_INTERSECT_REG(SHAPE1, SHAPE2, ALG)\
  FCL_GJK_LIBCCD_SHAPE_SHAPE_INTERSECT_INV(SHAPE1, SHAPE2, ALG)

Definition at line 241 of file gjk_solver_libccd-inl.h.

FCL_GJK_LIBCCD_SHAPE_SHAPE_INTERSECT_INV

#define FCL_GJK_LIBCCD_SHAPE_SHAPE_INTERSECT_INV	(		SHAPE1,
			SHAPE2,
			ALG
	)

Value:

  template <typename S>\
  struct ShapeIntersectLibccdImpl<S, SHAPE2<S>, SHAPE1<S>>\
  {\
    static bool run(\
        const GJKSolver_libccd<S>& /*gjkSolver*/,\
        const SHAPE2<S>& s1,\
        const Transform3<S>& tf1,\
        const SHAPE1<S>& s2,\
        const Transform3<S>& tf2,\
        std::vector<ContactPoint<S>>* contacts)\
    {\
      const bool res = ALG(s2, tf2, s1, tf1, contacts);\
      if (contacts) flipNormal(*contacts);\
      return res;\
    }\
  };

Definition at line 220 of file gjk_solver_libccd-inl.h.

FCL_GJK_LIBCCD_SHAPE_SHAPE_INTERSECT_REG

#define FCL_GJK_LIBCCD_SHAPE_SHAPE_INTERSECT_REG	(		SHAPE1,
			SHAPE2,
			ALG
	)

Value:

  template <typename S>\
  struct ShapeIntersectLibccdImpl<S, SHAPE1<S>, SHAPE2<S>>\
  {\
    static bool run(\
        const GJKSolver_libccd<S>& /*gjkSolver*/,\
        const SHAPE1<S>& s1,\
        const Transform3<S>& tf1,\
        const SHAPE2<S>& s2,\
        const Transform3<S>& tf2,\
        std::vector<ContactPoint<S>>* contacts)\
    {\
      return ALG(s1, tf1, s2, tf2, contacts);\
    }\
  };

Definition at line 204 of file gjk_solver_libccd-inl.h.