epa.h
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35 
38 #ifndef FCL_NARROWPHASE_DETAIL_EPA_H
39 #define FCL_NARROWPHASE_DETAIL_EPA_H
40 
42 
43 namespace fcl
44 {
45 
46 namespace detail
47 {
48 
49 //static const size_t EPA_MAX_FACES = 128;
50 //static const size_t EPA_MAX_VERTICES = 64;
51 //static const S EPA_EPS = 0.000001;
52 //static const size_t EPA_MAX_ITERATIONS = 255;
53 // TODO(JS): remove?
54 
56 template <typename S>
57 struct FCL_EXPORT EPA
58 {
59 private:
60  using SimplexV = typename GJK<S>::SimplexV;
61 
62  struct SimplexF
63  {
65  S d;
66  SimplexV* c[3]; // a face has three vertices
67  SimplexF* f[3]; // a face has three adjacent faces
68  SimplexF* l[2]; // the pre and post faces in the list
69  size_t e[3];
70  size_t pass;
71  };
72 
73  struct SimplexList
74  {
76  size_t count;
77 
78  SimplexList();
79 
80  void append(SimplexF* face);
81 
82  void remove(SimplexF* face);
83  };
84 
85  static void bind(SimplexF* fa, size_t ea, SimplexF* fb, size_t eb);
86 
88  {
89  SimplexF* cf; // current face in the horizon
90  SimplexF* ff; // first face in the horizon
91  size_t nf; // number of faces in the horizon
92  SimplexHorizon() : cf(nullptr), ff(nullptr), nf(0) {}
93  };
94 
95 private:
96  unsigned int max_face_num;
97  unsigned int max_vertex_num;
98  unsigned int max_iterations;
100 
101 public:
102 
103  enum Status {Valid, Touching, Degenerated, NonConvex, InvalidHull, OutOfFaces, OutOfVertices, AccuracyReached, FallBack, Failed};
104 
108  S depth;
111  size_t nextsv;
113 
114  EPA(
115  unsigned int max_face_num_,
116  unsigned int max_vertex_num_,
117  unsigned int max_iterations_,
118  S tolerance_);
119 
120  ~EPA();
121 
122  void initialize();
123 
124  bool getEdgeDist(SimplexF* face, SimplexV* a, SimplexV* b, S& dist);
125 
126  SimplexF* newFace(SimplexV* a, SimplexV* b, SimplexV* c, bool forced);
127 
129  SimplexF* findBest();
130 
131  Status evaluate(GJK<S>& gjk, const Vector3<S>& guess);
132 
134  bool expand(size_t pass, SimplexV* w, SimplexF* f, size_t e, SimplexHorizon& horizon);
135 };
136 
137 using EPAf = EPA<float>;
139 
140 } // namespace detail
141 } // namespace fcl
142 
144 
145 #endif
fcl::detail::EPA::max_iterations
unsigned int max_iterations
Definition: epa.h:98
fcl::detail::EPA::SimplexF::pass
size_t pass
Definition: epa.h:70
fcl::detail::EPA::SimplexList::count
size_t count
Definition: epa.h:76
gjk.h
fcl::detail::EPA
class for EPA algorithm
Definition: epa.h:57
fcl::detail::EPA::SimplexList
Definition: epa.h:73
epa-inl.h
fcl::detail::EPA::fc_store
SimplexF * fc_store
Definition: epa.h:110
fcl::detail::EPA::sv_store
SimplexV * sv_store
Definition: epa.h:109
fcl::detail::GJK::Simplex
Definition: gjk.h:62
fcl::detail::EPA::SimplexF::n
Vector3< S > n
Definition: epa.h:64
fcl::detail::EPA::normal
Vector3< S > normal
Definition: epa.h:107
fcl::detail::EPA::SimplexList::root
SimplexF * root
Definition: epa.h:75
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
fcl::detail::EPA::tolerance
S tolerance
Definition: epa.h:99
fcl::detail::EPA::status
Status status
Definition: epa.h:105
fcl::detail::EPA::nextsv
size_t nextsv
Definition: epa.h:111
fcl::detail::EPA::SimplexF::d
S d
Definition: epa.h:65
fcl::detail::EPA::Valid
@ Valid
Definition: epa.h:103
fcl::detail::EPA::SimplexHorizon::SimplexHorizon
SimplexHorizon()
Definition: epa.h:92
fcl::detail::EPA::SimplexHorizon::nf
size_t nf
Definition: epa.h:91
fcl::detail::EPA::SimplexHorizon
Definition: epa.h:87
fcl::detail::initialize
template bool initialize(MeshCollisionTraversalNodeOBB< double > &node, const BVHModel< OBB< double >> &model1, const Transform3< double > &tf1, const BVHModel< OBB< double >> &model2, const Transform3< double > &tf2, const CollisionRequest< double > &request, CollisionResult< double > &result)
fcl::detail::GJK::SimplexV
Definition: gjk.h:54
fcl::detail::EPA::max_vertex_num
unsigned int max_vertex_num
Definition: epa.h:97
fcl::detail::EPA::SimplexHorizon::ff
SimplexF * ff
Definition: epa.h:90
fcl::detail::EPA::SimplexHorizon::cf
SimplexF * cf
Definition: epa.h:89
fcl::detail::EPA::SimplexF
Definition: epa.h:62
fcl::detail::GJK
class for GJK algorithm
Definition: gjk.h:52
fcl::detail::EPA::Status
Status
Definition: epa.h:103
fcl::detail::EPA::SimplexV
typename GJK< S >::SimplexV SimplexV
Definition: epa.h:60
fcl::detail::EPA::stock
SimplexList stock
Definition: epa.h:112
fcl::detail::EPA::max_face_num
unsigned int max_face_num
Definition: epa.h:96
fcl::detail::EPA::result
GJK< S >::Simplex result
Definition: epa.h:106
fcl::detail::EPA::depth
S depth
Definition: epa.h:108
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


fcl
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autogenerated on Fri Apr 2 2021 02:37:59