hpp::fcl::details Namespace Reference

Namespaces
	details

Classes
struct	bvh_shape_traits
struct	ContactPoint
struct	EPA
	class for EPA algorithm More...
struct	GJK
	class for GJK algorithm More...
struct	LargeConvex
struct	MinkowskiDiff
	Minkowski difference class of two shapes. More...
struct	SmallConvex
struct	UpdateBoundingVolume
struct	UpdateBoundingVolume< AABB >

Functions
unsigned int	boxBox2 (const Vec3f &halfSide1, const Matrix3f &R1, const Vec3f &T1, const Vec3f &halfSide2, const Matrix3f &R2, const Vec3f &T2, Vec3f &normal, FCL_REAL *depth, int *return_code, unsigned int maxc, std::vector< ContactPoint > &contacts)
bool	boxBoxIntersect (const Box &s1, const Transform3f &tf1, const Box &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth_, Vec3f *normal_)
bool	boxHalfspaceIntersect (const Box &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2)
	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 + b v2 + c v3) + n * T <= d check whether d - n * T - (R^T n) (a v1 + b v2 + c v3) >= 0 for some a, b, c the max value of left side is d - n * T + |(R^T n) (a v1 + b v2 + c v3)|, check that is enough More...
bool	boxHalfspaceIntersect (const Box &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)
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 + b v2 + c v3) + n * T ~ d check whether d - n * T - (R^T n) (a v1 + b v2 + c v3) >= 0 for some a, b, c and <=0 for some a, b, c so need to check whether |d - n * T| <= |(R^T n)(a v1 + b v2 + c v3)|, the reason is as follows: (R^T n) (a v1 + b v2 + c v3) can get |(R^T n) (a v1 + b v2 + c v3)| for one a, b, c. if |d - n * T| <= |(R^T n)(a v1 + b v2 + c v3)| then can get both positive and negative value on the right side. More...
bool	boxSphereDistance (const Box &b, const Transform3f &tfb, const Sphere &s, const Transform3f &tfs, FCL_REAL &dist, Vec3f &pb, Vec3f &ps, Vec3f &normal)
	BVH_SHAPE_DEFAULT_TO_ORIENTED (kIOS)
	BVH_SHAPE_DEFAULT_TO_ORIENTED (OBB)
	BVH_SHAPE_DEFAULT_TO_ORIENTED (OBBRSS)
	BVH_SHAPE_DEFAULT_TO_ORIENTED (RSS)
template<typename BV >
BVHModel< BV > *	BVHExtract (const BVHModel< BV > &model, const Transform3f &pose, const AABB &_aabb)
	Extract the part of the BVHModel that is inside an AABB. A triangle in collision with the AABB is considered inside. More...
bool	capsuleHalfspaceIntersect (const Capsule &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)
bool	capsulePlaneIntersect (const Capsule &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)
bool	compareContactPoints (const ContactPoint &c1, const ContactPoint &c2)
FCL_REAL	computePenetration (const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Vec3f &Q1, const Vec3f &Q2, const Vec3f &Q3, const Transform3f &tf1, const Transform3f &tf2, Vec3f &normal)
FCL_REAL	computePenetration (const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Vec3f &Q1, const Vec3f &Q2, const Vec3f &Q3, Vec3f &normal)
	See the prototype below. More...
bool	coneHalfspaceIntersect (const Cone &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)
bool	conePlaneIntersect (const Cone &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)
bool	convexHalfspaceIntersect (const ConvexBase &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal)
bool	convexPlaneIntersect (const ConvexBase &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal)
static void	cullPoints2 (unsigned int n, FCL_REAL p[], unsigned int m, unsigned int i0, unsigned int iret[])
bool	cylinderHalfspaceIntersect (const Cylinder &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)
bool	cylinderPlaneIntersect (const Cylinder &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)
	cylinder-plane intersect n^T (R (r * cosa * v1 + r * sina * v2 + h * v3) + T) ~ d need one point to be positive and one to be negative (n^T * v3) * h + n * T -d + r * (cosa * (n^T * R * v1) + sina * (n^T * R * v2)) ~ 0 (n^T * v3) * h + r * (cosa * (n^T * R * v1) + sina * (n^T * R * v2)) + n * T - d ~ 0 More...
CollisionGeometry *	extractBVH (const CollisionGeometry *model, const Transform3f &pose, const AABB &aabb)
template<typename NT >
CollisionGeometry *	extractBVHtpl (const CollisionGeometry *model, const Transform3f &pose, const AABB &aabb)
std::vector< Vec3f >	getBoundVertices (const Box &box, const Transform3f &tf)
std::vector< Vec3f >	getBoundVertices (const Capsule &capsule, const Transform3f &tf)
std::vector< Vec3f >	getBoundVertices (const Cone &cone, const Transform3f &tf)
std::vector< Vec3f >	getBoundVertices (const ConvexBase &convex, const Transform3f &tf)
std::vector< Vec3f >	getBoundVertices (const Cylinder &cylinder, const Transform3f &tf)
std::vector< Vec3f >	getBoundVertices (const Ellipsoid &ellipsoid, const Transform3f &tf)
std::vector< Vec3f >	getBoundVertices (const Sphere &sphere, const Transform3f &tf)
std::vector< Vec3f >	getBoundVertices (const TriangleP &triangle, const Transform3f &tf)
bool	getNormalizeSupportDirection (const ShapeBase *shape)
void	getNormalizeSupportDirectionFromShapes (const ShapeBase *shape0, const ShapeBase *shape1, bool &normalize_support_direction)
void	getShapeSupport (const Box *box, const Vec3f &dir, Vec3f &support, int &, MinkowskiDiff::ShapeData *)
void	getShapeSupport (const Capsule *capsule, const Vec3f &dir, Vec3f &support, int &, MinkowskiDiff::ShapeData *)
void	getShapeSupport (const Cone *cone, const Vec3f &dir, Vec3f &support, int &, MinkowskiDiff::ShapeData *)
void	getShapeSupport (const ConvexBase *convex, const Vec3f &dir, Vec3f &support, int &hint, MinkowskiDiff::ShapeData *)
void	getShapeSupport (const Cylinder *cylinder, const Vec3f &dir, Vec3f &support, int &, MinkowskiDiff::ShapeData *)
void	getShapeSupport (const Ellipsoid *ellipsoid, const Vec3f &dir, Vec3f &support, int &, MinkowskiDiff::ShapeData *)
void	getShapeSupport (const LargeConvex *convex, const Vec3f &dir, Vec3f &support, int &hint, MinkowskiDiff::ShapeData *data)
void	getShapeSupport (const SmallConvex *convex, const Vec3f &dir, Vec3f &support, int &hint, MinkowskiDiff::ShapeData *data)
void	getShapeSupport (const Sphere *, const Vec3f &, Vec3f &support, int &, MinkowskiDiff::ShapeData *)
void	getShapeSupport (const TriangleP *triangle, const Vec3f &dir, Vec3f &support, int &, MinkowskiDiff::ShapeData *)
void	getShapeSupportLinear (const ConvexBase *convex, const Vec3f &dir, Vec3f &support, int &hint, MinkowskiDiff::ShapeData *)
void	getShapeSupportLog (const ConvexBase *convex, const Vec3f &dir, Vec3f &support, int &hint, MinkowskiDiff::ShapeData *data)
Vec3f	getSupport (const ShapeBase *shape, const Vec3f &dir, bool dirIsNormalized, int &hint)
	the support function for shape More...
template<typename Shape0 , typename Shape1 , bool TransformIsIdentity>
void	getSupportFuncTpl (const MinkowskiDiff &md, const Vec3f &dir, bool dirIsNormalized, Vec3f &support0, Vec3f &support1, support_func_guess_t &hint, MinkowskiDiff::ShapeData data[2])
template<typename Shape0 , typename Shape1 , bool TransformIsIdentity>
void	getSupportTpl (const Shape0 *s0, const Shape1 *s1, const Matrix3f &oR1, const Vec3f &ot1, const Vec3f &dir, Vec3f &support0, Vec3f &support1, support_func_guess_t &hint, MinkowskiDiff::ShapeData data[2])
bool	halfspaceDistance (const Halfspace &h, const Transform3f &tf1, const ShapeBase &s, const Transform3f &tf2, FCL_REAL &dist, Vec3f &p1, Vec3f &p2, Vec3f &normal)
bool	halfspaceIntersect (const Halfspace &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, Vec3f &p, Vec3f &d, Halfspace &s, FCL_REAL &penetration_depth, int &ret)
template<typename T >
T	halfspaceIntersectTolerance ()
template<>
float	halfspaceIntersectTolerance ()
bool	halfspacePlaneIntersect (const Halfspace &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, Plane &pl, Vec3f &p, Vec3f &d, FCL_REAL &penetration_depth, int &ret)
bool	halfspaceTriangleIntersect (const Halfspace &s1, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)
static unsigned int	intersectRectQuad2 (FCL_REAL h[2], FCL_REAL p[8], FCL_REAL ret[16])
static void	lineClosestApproach (const Vec3f &pa, const Vec3f &ua, const Vec3f &pb, const Vec3f &ub, FCL_REAL *alpha, FCL_REAL *beta)
static void	lineSegmentPointClosestToPoint (const Vec3f &p, const Vec3f &s1, const Vec3f &s2, Vec3f &sp)
MinkowskiDiff::GetSupportFunction	makeGetSupportFunction0 (const ShapeBase *s0, const ShapeBase *s1, bool identity, Eigen::Array< FCL_REAL, 1, 2 > &inflation, int linear_log_convex_threshold)
template<typename Shape0 >
MinkowskiDiff::GetSupportFunction	makeGetSupportFunction1 (const ShapeBase *s1, bool identity, Eigen::Array< FCL_REAL, 1, 2 > &inflation, int linear_log_convex_threshold)
template<typename OrientedMeshShapeDistanceTraversalNode , typename T_BVH , typename T_SH >
FCL_REAL	orientedBVHShapeDistance (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *nsolver, const DistanceRequest &request, DistanceResult &result)
template<typename OrientedMeshCollisionTraversalNode , typename T_BVH >
std::size_t	orientedMeshCollide (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const CollisionRequest &request, CollisionResult &result)
template<typename OrientedMeshDistanceTraversalNode , typename T_BVH >
FCL_REAL	orientedMeshDistance (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const DistanceRequest &request, DistanceResult &result)
void	originToPoint (const GJK::Simplex &current, GJK::vertex_id_t a, const Vec3f &A, GJK::Simplex &next, Vec3f &ray)
void	originToSegment (const GJK::Simplex &current, GJK::vertex_id_t a, GJK::vertex_id_t b, const Vec3f &A, const Vec3f &B, const Vec3f &AB, const FCL_REAL &ABdotAO, GJK::Simplex &next, Vec3f &ray)
bool	originToTriangle (const GJK::Simplex &current, GJK::vertex_id_t a, GJK::vertex_id_t b, GJK::vertex_id_t c, const Vec3f &ABC, const FCL_REAL &ABCdotAO, GJK::Simplex &next, Vec3f &ray)
bool	planeHalfspaceIntersect (const Plane &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, Plane &pl, Vec3f &p, Vec3f &d, FCL_REAL &penetration_depth, int &ret)
	return whether plane collides with halfspace if the separation plane of the halfspace is parallel with the plane return code 1, if the plane's normal is the same with halfspace's normal and plane is inside halfspace, also return plane in pl return code 2, if the plane's normal is oppositie to the halfspace's normal and plane is inside halfspace, also return plane in pl plane is outside halfspace, collision-free if not parallel return the intersection ray, return code 3. ray origin is p and direction is d More...
bool	planeIntersect (const Plane &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, Vec3f *, FCL_REAL *, Vec3f *)
template<typename T >
T	planeIntersectTolerance ()
template<>
double	planeIntersectTolerance< double > ()
template<>
float	planeIntersectTolerance< float > ()
bool	planeTriangleIntersect (const Plane &s1, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)
bool	projectInTriangle (const Vec3f &p1, const Vec3f &p2, const Vec3f &p3, const Vec3f &normal, const Vec3f &p)
	Whether a point's projection is in a triangle. More...
FCL_REAL	segmentSqrDistance (const Vec3f &from, const Vec3f &to, const Vec3f &p, Vec3f &nearest)
	the minimum distance from a point to a line More...
bool	sphereCapsuleDistance (const Sphere &s1, const Transform3f &tf1, const Capsule &s2, const Transform3f &tf2, FCL_REAL &dist, Vec3f &p1, Vec3f &p2, Vec3f &normal)
bool	sphereCapsuleIntersect (const Sphere &s1, const Transform3f &tf1, const Capsule &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f *contact_points, Vec3f *normal_)
bool	sphereCylinderDistance (const Sphere &s1, const Transform3f &tf1, const Cylinder &s2, const Transform3f &tf2, FCL_REAL &dist, Vec3f &p1, Vec3f &p2, Vec3f &normal)
bool	sphereHalfspaceIntersect (const Sphere &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)
bool	spherePlaneIntersect (const Sphere &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)
bool	sphereSphereDistance (const Sphere &s1, const Transform3f &tf1, const Sphere &s2, const Transform3f &tf2, FCL_REAL &dist, Vec3f &p1, Vec3f &p2, Vec3f &normal)
bool	sphereSphereIntersect (const Sphere &s1, const Transform3f &tf1, const Sphere &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f *contact_points, Vec3f *normal)
bool	sphereTriangleDistance (const Sphere &sp, const Transform3f &tf, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, FCL_REAL *dist)
bool	sphereTriangleDistance (const Sphere &sp, const Transform3f &tf, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, FCL_REAL *dist, Vec3f *p1, Vec3f *p2)
bool	sphereTriangleDistance (const Sphere &sp, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf2, FCL_REAL *dist, Vec3f *p1, Vec3f *p2)
bool	sphereTriangleIntersect (const Sphere &s, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal_)

Variables
static const FCL_REAL	EPA_EPS = 0.000001
static const size_t	EPA_MAX_FACES = 128
static const size_t	EPA_MAX_ITERATIONS = 255
static const size_t	EPA_MAX_VERTICES = 64

Function Documentation

boxBox2()

unsigned int hpp::fcl::details::boxBox2 ( const Vec3f &  halfSide1, const Matrix3f &  R1, const Vec3f &  T1, const Vec3f &  halfSide2, const Matrix3f &  R2, const Vec3f &  T2, Vec3f &  normal, FCL_REAL *  depth, int *  return_code, unsigned int  maxc, std::vector< ContactPoint > &  contacts  )

inline

Definition at line 762 of file details.h.

boxBoxIntersect()

bool hpp::fcl::details::boxBoxIntersect ( const Box &  s1, const Transform3f &  tf1, const Box &  s2, const Transform3f &  tf2, Vec3f *  contact_points, FCL_REAL *  penetration_depth_, Vec3f *  normal_  )

inline

Definition at line 1339 of file details.h.

boxHalfspaceIntersect() [1/2]

bool hpp::fcl::details::boxHalfspaceIntersect ( const Box &  s1, const Transform3f &  tf1, const Halfspace &  s2, const Transform3f &  tf2  )

inline

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 + b v2 + c v3) + n * T <= d check whether d - n * T - (R^T n) (a v1 + b v2 + c v3) >= 0 for some a, b, c the max value of left side is d - n * T + |(R^T n) (a v1 + b v2 + c v3)|, check that is enough

Definition at line 1404 of file details.h.

boxHalfspaceIntersect() [2/2]

bool hpp::fcl::details::boxHalfspaceIntersect ( const Box &  s1, const Transform3f &  tf1, const Halfspace &  s2, const Transform3f &  tf2, FCL_REAL &  distance, Vec3f &  p1, Vec3f &  p2, Vec3f &  normal  )

inline

find deepest point

compute the contact point from the deepest point

Definition at line 1418 of file details.h.

boxPlaneIntersect()

bool hpp::fcl::details::boxPlaneIntersect ( const Box &  s1, const Transform3f &  tf1, const Plane &  s2, const Transform3f &  tf2, FCL_REAL &  distance, Vec3f &  p1, Vec3f &  p2, Vec3f &  normal  )

inline

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 + b v2 + c v3) + n * T ~ d check whether d - n * T - (R^T n) (a v1 + b v2 + c v3) >= 0 for some a, b, c and <=0 for some a, b, c so need to check whether |d - n * T| <= |(R^T n)(a v1 + b v2 + c v3)|, the reason is as follows: (R^T n) (a v1 + b v2 + c v3) can get |(R^T n) (a v1 + b v2 + c v3)| for one a, b, c. if |d - n * T| <= |(R^T n)(a v1 + b v2 + c v3)| then can get both positive and negative value on the right side.

Definition at line 1879 of file details.h.

boxSphereDistance()

bool hpp::fcl::details::boxSphereDistance ( const Box &  b, const Transform3f &  tfb, const Sphere &  s, const Transform3f &  tfs, FCL_REAL &  dist, Vec3f &  pb, Vec3f &  ps, Vec3f &  normal  )

inline

Taken from book Real Time Collision Detection, from Christer Ericson

Parameters

pb	the closest point to the sphere center on the box surface
ps	when colliding, matches pb, which is inside the sphere. when not colliding, the closest point on the sphere
normal	direction of motion of the box

Returns

true if the distance is negative (the shape overlaps).

Definition at line 1957 of file details.h.

BVH_SHAPE_DEFAULT_TO_ORIENTED() [1/4]

hpp::fcl::details::BVH_SHAPE_DEFAULT_TO_ORIENTED

(

kIOS

)

BVH_SHAPE_DEFAULT_TO_ORIENTED() [2/4]

hpp::fcl::details::BVH_SHAPE_DEFAULT_TO_ORIENTED

(

OBB

)

BVH_SHAPE_DEFAULT_TO_ORIENTED() [3/4]

hpp::fcl::details::BVH_SHAPE_DEFAULT_TO_ORIENTED

(

OBBRSS

)

BVH_SHAPE_DEFAULT_TO_ORIENTED() [4/4]

hpp::fcl::details::BVH_SHAPE_DEFAULT_TO_ORIENTED

(

RSS

)

BVHExtract()

template<typename BV >

BVHModel<BV>* hpp::fcl::details::BVHExtract	(	const BVHModel< BV > &	model,
		const Transform3f &	pose,
		const AABB &	_aabb
	)

Extract the part of the BVHModel that is inside an AABB. A triangle in collision with the AABB is considered inside.

Definition at line 47 of file BVH_utility.cpp.

capsuleHalfspaceIntersect()

bool hpp::fcl::details::capsuleHalfspaceIntersect ( const Capsule &  s1, const Transform3f &  tf1, const Halfspace &  s2, const Transform3f &  tf2, FCL_REAL &  distance, Vec3f &  p1, Vec3f &  p2, Vec3f &  normal  )

inline

Definition at line 1466 of file details.h.

capsulePlaneIntersect()

bool hpp::fcl::details::capsulePlaneIntersect ( const Capsule &  s1, const Transform3f &  tf1, const Plane &  s2, const Transform3f &  tf2, FCL_REAL &  distance, Vec3f &  p1, Vec3f &  p2, Vec3f &  normal  )

inline

Definition at line 2009 of file details.h.

compareContactPoints()

bool hpp::fcl::details::compareContactPoints ( const ContactPoint &  c1, const ContactPoint &  c2  )

inline

Definition at line 1334 of file details.h.

computePenetration() [1/2]

FCL_REAL hpp::fcl::details::computePenetration ( const Vec3f &  P1, const Vec3f &  P2, const Vec3f &  P3, const Vec3f &  Q1, const Vec3f &  Q2, const Vec3f &  Q3, const Transform3f &  tf1, const Transform3f &  tf2, Vec3f &  normal  )

inline

Definition at line 2496 of file details.h.

computePenetration() [2/2]

FCL_REAL hpp::fcl::details::computePenetration ( const Vec3f &  P1, const Vec3f &  P2, const Vec3f &  P3, const Vec3f &  Q1, const Vec3f &  Q2, const Vec3f &  Q3, Vec3f &  normal  )

inline

See the prototype below.

Definition at line 2477 of file details.h.

coneHalfspaceIntersect()

bool hpp::fcl::details::coneHalfspaceIntersect ( const Cone &  s1, const Transform3f &  tf1, const Halfspace &  s2, const Transform3f &  tf2, FCL_REAL &  distance, Vec3f &  p1, Vec3f &  p2, Vec3f &  normal  )

inline

Definition at line 1566 of file details.h.

conePlaneIntersect()

bool hpp::fcl::details::conePlaneIntersect ( const Cone &  s1, const Transform3f &  tf1, const Plane &  s2, const Transform3f &  tf2, FCL_REAL &  distance, Vec3f &  p1, Vec3f &  p2, Vec3f &  normal  )

inline

Definition at line 2185 of file details.h.

convexHalfspaceIntersect()

bool hpp::fcl::details::convexHalfspaceIntersect ( const ConvexBase &  s1, const Transform3f &  tf1, const Halfspace &  s2, const Transform3f &  tf2, Vec3f *  contact_points, FCL_REAL *  penetration_depth, Vec3f *  normal  )

inline

Definition at line 1618 of file details.h.

convexPlaneIntersect()

bool hpp::fcl::details::convexPlaneIntersect ( const ConvexBase &  s1, const Transform3f &  tf1, const Plane &  s2, const Transform3f &  tf2, Vec3f *  contact_points, FCL_REAL *  penetration_depth, Vec3f *  normal  )

inline

Definition at line 2298 of file details.h.

cullPoints2()

static void hpp::fcl::details::cullPoints2 ( unsigned int  n, FCL_REAL  p[], unsigned int  m, unsigned int  i0, unsigned int  iret[]  )

inlinestatic

Definition at line 695 of file details.h.

cylinderHalfspaceIntersect()

bool hpp::fcl::details::cylinderHalfspaceIntersect ( const Cylinder &  s1, const Transform3f &  tf1, const Halfspace &  s2, const Transform3f &  tf2, FCL_REAL &  distance, Vec3f &  p1, Vec3f &  p2, Vec3f &  normal  )

inline

Definition at line 1513 of file details.h.

cylinderPlaneIntersect()

bool hpp::fcl::details::cylinderPlaneIntersect ( const Cylinder &  s1, const Transform3f &  tf1, const Plane &  s2, const Transform3f &  tf2, FCL_REAL &  distance, Vec3f &  p1, Vec3f &  p2, Vec3f &  normal  )

inline

cylinder-plane intersect n^T (R (r * cosa * v1 + r * sina * v2 + h * v3) + T) ~ d need one point to be positive and one to be negative (n^T * v3) * h + n * T -d + r * (cosa * (n^T * R * v1) + sina * (n^T * R * v2)) ~ 0 (n^T * v3) * h + r * (cosa * (n^T * R * v1) + sina * (n^T * R * v2)) + n * T - d ~ 0

Definition at line 2109 of file details.h.

extractBVH()

CollisionGeometry* hpp::fcl::details::extractBVH	(	const CollisionGeometry *	model,
		const Transform3f &	pose,
		const AABB &	aabb
	)

Definition at line 43 of file collision_utility.cpp.

extractBVHtpl()

template<typename NT >

CollisionGeometry* hpp::fcl::details::extractBVHtpl ( const CollisionGeometry *  model, const Transform3f &  pose, const AABB &  aabb  )

inline

Definition at line 26 of file collision_utility.cpp.

getBoundVertices() [1/8]

std::vector<Vec3f> hpp::fcl::details::getBoundVertices	(	const Box &	box,
		const Transform3f &	tf
	)

Definition at line 47 of file geometric_shapes_utility.cpp.

getBoundVertices() [2/8]

std::vector<Vec3f> hpp::fcl::details::getBoundVertices	(	const Capsule &	capsule,
		const Transform3f &	tf
	)

Definition at line 124 of file geometric_shapes_utility.cpp.

getBoundVertices() [3/8]

std::vector<Vec3f> hpp::fcl::details::getBoundVertices	(	const Cone &	cone,
		const Transform3f &	tf
	)

Definition at line 180 of file geometric_shapes_utility.cpp.

getBoundVertices() [4/8]

std::vector<Vec3f> hpp::fcl::details::getBoundVertices	(	const ConvexBase &	convex,
		const Transform3f &	tf
	)

Definition at line 226 of file geometric_shapes_utility.cpp.

getBoundVertices() [5/8]

std::vector<Vec3f> hpp::fcl::details::getBoundVertices	(	const Cylinder &	cylinder,
		const Transform3f &	tf
	)

Definition at line 200 of file geometric_shapes_utility.cpp.

getBoundVertices() [6/8]

std::vector<Vec3f> hpp::fcl::details::getBoundVertices	(	const Ellipsoid &	ellipsoid,
		const Transform3f &	tf
	)

Definition at line 90 of file geometric_shapes_utility.cpp.

getBoundVertices() [7/8]

std::vector<Vec3f> hpp::fcl::details::getBoundVertices	(	const Sphere &	sphere,
		const Transform3f &	tf
	)

Definition at line 65 of file geometric_shapes_utility.cpp.

getBoundVertices() [8/8]

std::vector<Vec3f> hpp::fcl::details::getBoundVertices	(	const TriangleP &	triangle,
		const Transform3f &	tf
	)

Definition at line 236 of file geometric_shapes_utility.cpp.

getNormalizeSupportDirection()

bool hpp::fcl::details::getNormalizeSupportDirection

(

const ShapeBase *

shape

)

Definition at line 450 of file src/narrowphase/gjk.cpp.

getNormalizeSupportDirectionFromShapes()

void hpp::fcl::details::getNormalizeSupportDirectionFromShapes	(	const ShapeBase *	shape0,
		const ShapeBase *	shape1,
		bool &	normalize_support_direction
	)

Definition at line 481 of file src/narrowphase/gjk.cpp.

getShapeSupport() [1/10]

void hpp::fcl::details::getShapeSupport ( const Box *  box, const Vec3f &  dir, Vec3f &  support, int &  , MinkowskiDiff::ShapeData *    )

inline

Definition at line 66 of file src/narrowphase/gjk.cpp.

getShapeSupport() [2/10]

void hpp::fcl::details::getShapeSupport ( const Capsule *  capsule, const Vec3f &  dir, Vec3f &  support, int &  , MinkowskiDiff::ShapeData *    )

inline

Definition at line 92 of file src/narrowphase/gjk.cpp.

getShapeSupport() [3/10]

void hpp::fcl::details::getShapeSupport	(	const Cone *	cone,
		const Vec3f &	dir,
		Vec3f &	support,
		int &	,
		MinkowskiDiff::ShapeData *
	)

Definition at line 101 of file src/narrowphase/gjk.cpp.

getShapeSupport() [4/10]

void hpp::fcl::details::getShapeSupport	(	const ConvexBase *	convex,
		const Vec3f &	dir,
		Vec3f &	support,
		int &	hint,
		MinkowskiDiff::ShapeData *
	)

Definition at line 227 of file src/narrowphase/gjk.cpp.

getShapeSupport() [5/10]

void hpp::fcl::details::getShapeSupport	(	const Cylinder *	cylinder,
		const Vec3f &	dir,
		Vec3f &	support,
		int &	,
		MinkowskiDiff::ShapeData *
	)

Definition at line 139 of file src/narrowphase/gjk.cpp.

getShapeSupport() [6/10]

void hpp::fcl::details::getShapeSupport ( const Ellipsoid *  ellipsoid, const Vec3f &  dir, Vec3f &  support, int &  , MinkowskiDiff::ShapeData *    )

inline

Definition at line 79 of file src/narrowphase/gjk.cpp.

getShapeSupport() [7/10]

void hpp::fcl::details::getShapeSupport ( const LargeConvex *  convex, const Vec3f &  dir, Vec3f &  support, int &  hint, MinkowskiDiff::ShapeData *  data  )

inline

Definition at line 245 of file src/narrowphase/gjk.cpp.

getShapeSupport() [8/10]

void hpp::fcl::details::getShapeSupport ( const SmallConvex *  convex, const Vec3f &  dir, Vec3f &  support, int &  hint, MinkowskiDiff::ShapeData *  data  )

inline

Definition at line 238 of file src/narrowphase/gjk.cpp.

getShapeSupport() [9/10]

void hpp::fcl::details::getShapeSupport ( const Sphere *  , const Vec3f &  , Vec3f &  support, int &  , MinkowskiDiff::ShapeData *    )

inline

Definition at line 74 of file src/narrowphase/gjk.cpp.

getShapeSupport() [10/10]

void hpp::fcl::details::getShapeSupport	(	const TriangleP *	triangle,
		const Vec3f &	dir,
		Vec3f &	support,
		int &	,
		MinkowskiDiff::ShapeData *
	)

Definition at line 48 of file src/narrowphase/gjk.cpp.

getShapeSupportLinear()

void hpp::fcl::details::getShapeSupportLinear	(	const ConvexBase *	convex,
		const Vec3f &	dir,
		Vec3f &	support,
		int &	hint,
		MinkowskiDiff::ShapeData *
	)

Definition at line 210 of file src/narrowphase/gjk.cpp.

getShapeSupportLog()

void hpp::fcl::details::getShapeSupportLog	(	const ConvexBase *	convex,
		const Vec3f &	dir,
		Vec3f &	support,
		int &	hint,
		MinkowskiDiff::ShapeData *	data
	)

Definition at line 169 of file src/narrowphase/gjk.cpp.

getSupport()

Vec3f hpp::fcl::details::getSupport	(	const ShapeBase *	shape,
		const Vec3f &	dir,
		bool	dirIsNormalized,
		int &	hint
	)

the support function for shape

Parameters

hint	use to initialize the search when shape is a ConvexBase object.

Definition at line 260 of file src/narrowphase/gjk.cpp.

getSupportFuncTpl()

template<typename Shape0 , typename Shape1 , bool TransformIsIdentity>

void hpp::fcl::details::getSupportFuncTpl	(	const MinkowskiDiff &	md,
		const Vec3f &	dir,
		bool	dirIsNormalized,
		Vec3f &	support0,
		Vec3f &	support1,
		support_func_guess_t &	hint,
		MinkowskiDiff::ShapeData	data[2]
	)

Definition at line 315 of file src/narrowphase/gjk.cpp.

getSupportTpl()

template<typename Shape0 , typename Shape1 , bool TransformIsIdentity>

void hpp::fcl::details::getSupportTpl	(	const Shape0 *	s0,
		const Shape1 *	s1,
		const Matrix3f &	oR1,
		const Vec3f &	ot1,
		const Vec3f &	dir,
		Vec3f &	support0,
		Vec3f &	support1,
		support_func_guess_t &	hint,
		MinkowskiDiff::ShapeData	data[2]
	)

Definition at line 301 of file src/narrowphase/gjk.cpp.

halfspaceDistance()

bool hpp::fcl::details::halfspaceDistance ( const Halfspace &  h, const Transform3f &  tf1, const ShapeBase &  s, const Transform3f &  tf2, FCL_REAL &  dist, Vec3f &  p1, Vec3f &  p2, Vec3f &  normal  )

inline

Parameters

p1	closest (or most penetrating) point on the Halfspace,
p2	closest (or most penetrating) point on the shape,
normal	the halfspace normal.

Returns

true if the distance is negative (the shape overlaps).

Definition at line 1808 of file details.h.

halfspaceIntersect()

bool hpp::fcl::details::halfspaceIntersect ( const Halfspace &  s1, const Transform3f &  tf1, const Halfspace &  s2, const Transform3f &  tf2, Vec3f &  p, Vec3f &  d, Halfspace &  s, FCL_REAL &  penetration_depth, int &  ret  )

inline

@ brief return whether two halfspace intersect if the separation planes of the two halfspaces are parallel return code 1, if two halfspaces' normal are same and s1 is in s2, also return s1 in s; return code 2, if two halfspaces' normal are same and s2 is in s1, also return s2 in s; return code 3, if two halfspaces' normal are opposite and s1 and s2 are into each other; collision free, if two halfspaces' are separate; if the separation planes of the two halfspaces are not parallel, return intersection ray, return code 4. ray origin is p and direction is d collision free return code 0

Definition at line 1756 of file details.h.

halfspaceIntersectTolerance() [1/2]

template<typename T >

T hpp::fcl::details::halfspaceIntersectTolerance ( )

inline

Definition at line 1366 of file details.h.

halfspaceIntersectTolerance() [2/2]

template<>

double hpp::fcl::details::halfspaceIntersectTolerance ( )

inline

Definition at line 1371 of file details.h.

halfspacePlaneIntersect()

bool hpp::fcl::details::halfspacePlaneIntersect ( const Halfspace &  s1, const Transform3f &  tf1, const Plane &  s2, const Transform3f &  tf2, Plane &  pl, Vec3f &  p, Vec3f &  d, FCL_REAL &  penetration_depth, int &  ret  )

inline

Definition at line 2454 of file details.h.

halfspaceTriangleIntersect()

bool hpp::fcl::details::halfspaceTriangleIntersect ( const Halfspace &  s1, const Transform3f &  tf1, const Vec3f &  P1, const Vec3f &  P2, const Vec3f &  P3, const Transform3f &  tf2, FCL_REAL &  distance, Vec3f &  p1, Vec3f &  p2, Vec3f &  normal  )

inline

Definition at line 1652 of file details.h.

intersectRectQuad2()

static unsigned int hpp::fcl::details::intersectRectQuad2 ( FCL_REAL  h[2], FCL_REAL  p[8], FCL_REAL  ret[16]  )

static

Definition at line 633 of file details.h.

lineClosestApproach()

static void hpp::fcl::details::lineClosestApproach ( const Vec3f &  pa, const Vec3f &  ua, const Vec3f &  pb, const Vec3f &  ub, FCL_REAL *  alpha, FCL_REAL *  beta  )

inlinestatic

Definition at line 608 of file details.h.

lineSegmentPointClosestToPoint()

static void hpp::fcl::details::lineSegmentPointClosestToPoint ( const Vec3f &  p, const Vec3f &  s1, const Vec3f &  s2, Vec3f &  sp  )

inlinestatic

Definition at line 51 of file details.h.

makeGetSupportFunction0()

MinkowskiDiff::GetSupportFunction hpp::fcl::details::makeGetSupportFunction0	(	const ShapeBase *	s0,
		const ShapeBase *	s1,
		bool	identity,
		Eigen::Array< FCL_REAL, 1, 2 > &	inflation,
		int	linear_log_convex_threshold
	)

Definition at line 401 of file src/narrowphase/gjk.cpp.

makeGetSupportFunction1()

template<typename Shape0 >

MinkowskiDiff::GetSupportFunction hpp::fcl::details::makeGetSupportFunction1	(	const ShapeBase *	s1,
		bool	identity,
		Eigen::Array< FCL_REAL, 1, 2 > &	inflation,
		int	linear_log_convex_threshold
	)

Definition at line 341 of file src/narrowphase/gjk.cpp.

orientedBVHShapeDistance()

template<typename OrientedMeshShapeDistanceTraversalNode , typename T_BVH , typename T_SH >

FCL_REAL hpp::fcl::details::orientedBVHShapeDistance	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const GJKSolver *	nsolver,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Definition at line 112 of file distance_func_matrix.cpp.

orientedMeshCollide()

template<typename OrientedMeshCollisionTraversalNode , typename T_BVH >

std::size_t hpp::fcl::details::orientedMeshCollide	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const CollisionRequest &	request,
		CollisionResult &	result
	)

Definition at line 193 of file collision_func_matrix.cpp.

orientedMeshDistance()

template<typename OrientedMeshDistanceTraversalNode , typename T_BVH >

FCL_REAL hpp::fcl::details::orientedMeshDistance	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Definition at line 224 of file distance_func_matrix.cpp.

originToPoint()

void hpp::fcl::details::originToPoint ( const GJK::Simplex &  current, GJK::vertex_id_t  a, const Vec3f &  A, GJK::Simplex &  next, Vec3f &  ray  )

inline

Definition at line 925 of file src/narrowphase/gjk.cpp.

originToSegment()

void hpp::fcl::details::originToSegment ( const GJK::Simplex &  current, GJK::vertex_id_t  a, GJK::vertex_id_t  b, const Vec3f &  A, const Vec3f &  B, const Vec3f &  AB, const FCL_REAL &  ABdotAO, GJK::Simplex &  next, Vec3f &  ray  )

inline

Definition at line 933 of file src/narrowphase/gjk.cpp.

originToTriangle()

bool hpp::fcl::details::originToTriangle ( const GJK::Simplex &  current, GJK::vertex_id_t  a, GJK::vertex_id_t  b, GJK::vertex_id_t  c, const Vec3f &  ABC, const FCL_REAL &  ABCdotAO, GJK::Simplex &  next, Vec3f &  ray  )

inline

Definition at line 948 of file src/narrowphase/gjk.cpp.

planeHalfspaceIntersect()

bool hpp::fcl::details::planeHalfspaceIntersect ( const Plane &  s1, const Transform3f &  tf1, const Halfspace &  s2, const Transform3f &  tf2, Plane &  pl, Vec3f &  p, Vec3f &  d, FCL_REAL &  penetration_depth, int &  ret  )

inline

return whether plane collides with halfspace if the separation plane of the halfspace is parallel with the plane return code 1, if the plane's normal is the same with halfspace's normal and plane is inside halfspace, also return plane in pl return code 2, if the plane's normal is oppositie to the halfspace's normal and plane is inside halfspace, also return plane in pl plane is outside halfspace, collision-free if not parallel return the intersection ray, return code 3. ray origin is p and direction is d

Definition at line 1700 of file details.h.

planeIntersect()

bool hpp::fcl::details::planeIntersect ( const Plane &  s1, const Transform3f &  tf1, const Plane &  s2, const Transform3f &  tf2, Vec3f *  , FCL_REAL *  , Vec3f *    )

inline

Definition at line 2462 of file details.h.

planeIntersectTolerance()

template<typename T >

T hpp::fcl::details::planeIntersectTolerance ( )

inline

Definition at line 1826 of file details.h.

planeIntersectTolerance< double >()

template<>

double hpp::fcl::details::planeIntersectTolerance< double > ( )

inline

Definition at line 1831 of file details.h.

planeIntersectTolerance< float >()

template<>

float hpp::fcl::details::planeIntersectTolerance< float > ( )

inline

Definition at line 1836 of file details.h.

planeTriangleIntersect()

bool hpp::fcl::details::planeTriangleIntersect ( const Plane &  s1, const Transform3f &  tf1, const Vec3f &  P1, const Vec3f &  P2, const Vec3f &  P3, const Transform3f &  tf2, FCL_REAL &  distance, Vec3f &  p1, Vec3f &  p2, Vec3f &  normal  )

inline

Definition at line 2339 of file details.h.

projectInTriangle()

bool hpp::fcl::details::projectInTriangle ( const Vec3f &  p1, const Vec3f &  p2, const Vec3f &  p3, const Vec3f &  normal, const Vec3f &  p  )

inline

Whether a point's projection is in a triangle.

Definition at line 299 of file details.h.

segmentSqrDistance()

FCL_REAL hpp::fcl::details::segmentSqrDistance ( const Vec3f &  from, const Vec3f &  to, const Vec3f &  p, Vec3f &  nearest  )

inline

the minimum distance from a point to a line

Definition at line 276 of file details.h.

sphereCapsuleDistance()

bool hpp::fcl::details::sphereCapsuleDistance ( const Sphere &  s1, const Transform3f &  tf1, const Capsule &  s2, const Transform3f &  tf2, FCL_REAL &  dist, Vec3f &  p1, Vec3f &  p2, Vec3f &  normal  )

inline

Definition at line 101 of file details.h.

sphereCapsuleIntersect()

bool hpp::fcl::details::sphereCapsuleIntersect ( const Sphere &  s1, const Transform3f &  tf1, const Capsule &  s2, const Transform3f &  tf2, FCL_REAL &  distance, Vec3f *  contact_points, Vec3f *  normal_  )

inline

Definition at line 71 of file details.h.

sphereCylinderDistance()

bool hpp::fcl::details::sphereCylinderDistance ( const Sphere &  s1, const Transform3f &  tf1, const Cylinder &  s2, const Transform3f &  tf2, FCL_REAL &  dist, Vec3f &  p1, Vec3f &  p2, Vec3f &  normal  )

inline

Todo:

a tiny performance improvement could be achieved using the abscissa with S as the origin

Definition at line 132 of file details.h.

sphereHalfspaceIntersect()

bool hpp::fcl::details::sphereHalfspaceIntersect ( const Sphere &  s1, const Transform3f &  tf1, const Halfspace &  s2, const Transform3f &  tf2, FCL_REAL &  distance, Vec3f &  p1, Vec3f &  p2, Vec3f &  normal  )

inline

Definition at line 1380 of file details.h.

spherePlaneIntersect()

bool hpp::fcl::details::spherePlaneIntersect ( const Sphere &  s1, const Transform3f &  tf1, const Plane &  s2, const Transform3f &  tf2, FCL_REAL &  distance, Vec3f &  p1, Vec3f &  p2, Vec3f &  normal  )

inline

Definition at line 1840 of file details.h.

sphereSphereDistance()

bool hpp::fcl::details::sphereSphereDistance ( const Sphere &  s1, const Transform3f &  tf1, const Sphere &  s2, const Transform3f &  tf2, FCL_REAL &  dist, Vec3f &  p1, Vec3f &  p2, Vec3f &  normal  )

inline

Definition at line 258 of file details.h.

sphereSphereIntersect()

bool hpp::fcl::details::sphereSphereIntersect ( const Sphere &  s1, const Transform3f &  tf1, const Sphere &  s2, const Transform3f &  tf2, FCL_REAL &  distance, Vec3f *  contact_points, Vec3f *  normal  )

inline

Definition at line 232 of file details.h.

sphereTriangleDistance() [1/3]

bool hpp::fcl::details::sphereTriangleDistance ( const Sphere &  sp, const Transform3f &  tf, const Vec3f &  P1, const Vec3f &  P2, const Vec3f &  P3, FCL_REAL *  dist  )

inline

Definition at line 381 of file details.h.

sphereTriangleDistance() [2/3]

bool hpp::fcl::details::sphereTriangleDistance ( const Sphere &  sp, const Transform3f &  tf, const Vec3f &  P1, const Vec3f &  P2, const Vec3f &  P3, FCL_REAL *  dist, Vec3f *  p1, Vec3f *  p2  )

inline

Definition at line 563 of file details.h.

sphereTriangleDistance() [3/3]

bool hpp::fcl::details::sphereTriangleDistance ( const Sphere &  sp, const Transform3f &  tf1, const Vec3f &  P1, const Vec3f &  P2, const Vec3f &  P3, const Transform3f &  tf2, FCL_REAL *  dist, Vec3f *  p1, Vec3f *  p2  )

inline

Definition at line 590 of file details.h.

sphereTriangleIntersect()

bool hpp::fcl::details::sphereTriangleIntersect ( const Sphere &  s, const Transform3f &  tf1, const Vec3f &  P1, const Vec3f &  P2, const Vec3f &  P3, FCL_REAL &  distance, Vec3f &  p1, Vec3f &  p2, Vec3f &  normal_  )

inline

Definition at line 324 of file details.h.

Variable Documentation

EPA_EPS

const FCL_REAL hpp::fcl::details::EPA_EPS = 0.000001

static

Definition at line 308 of file gjk.h.

EPA_MAX_FACES

const size_t hpp::fcl::details::EPA_MAX_FACES = 128

static

Definition at line 306 of file gjk.h.

EPA_MAX_ITERATIONS

const size_t hpp::fcl::details::EPA_MAX_ITERATIONS = 255

static

Definition at line 309 of file gjk.h.

EPA_MAX_VERTICES

const size_t hpp::fcl::details::EPA_MAX_VERTICES = 64

static

Definition at line 307 of file gjk.h.