fcl::detail Namespace Reference

Namespaces
	dynamic_AABB_tree
	dynamic_AABB_tree_array
	implementation_array
	kIOS_fit_functions
	libccd_extension
	OBB_fit_functions
	OBBRSS_fit_functions
	RSS_fit_functions

Classes
struct	ApplyImpl
struct	ApplyImpl< S, kIOS< S > >
struct	ApplyImpl< S, OBB< S > >
struct	ApplyImpl< S, OBBRSS< S > >
struct	ApplyImpl< S, RSS< S > >
struct	BoxSpecification
class	BVFitter
	The class for the default algorithm fitting a bounding volume to a set of points. More...
class	BVFitterBase
	Interface for fitting a bv given the triangles or points inside it. More...
struct	BVHCollideImpl
struct	BVHCollideImpl< S, kIOS< S > >
struct	BVHCollideImpl< S, OBB< S > >
struct	BVHCollideImpl< S, OBBRSS< S > >
class	BVHCollisionTraversalNode
	Traversal node for collision between BVH models. More...
struct	BVHContinuousCollisionPair
	Traversal node for continuous collision between BVH models. More...
struct	BVHDistanceImpl
struct	BVHDistanceImpl< S, kIOS< S > >
struct	BVHDistanceImpl< S, OBBRSS< S > >
struct	BVHDistanceImpl< S, RSS< S > >
class	BVHDistanceTraversalNode
	Traversal node for distance computation between BVH models. More...
struct	BVHFrontNode
	Front list acceleration for collision Front list is a set of internal and leaf nodes in the BVTT hierarchy, where the traversal terminates while performing a query during a given time instance. The front list reflects the subset of a BVTT that is traversed for that particular proximity query. More...
struct	BVHShapeCollider
struct	BVHShapeCollider< kIOS< typename Shape::S >, Shape, NarrowPhaseSolver >
struct	BVHShapeCollider< OBB< typename Shape::S >, Shape, NarrowPhaseSolver >
struct	BVHShapeCollider< OBBRSS< typename Shape::S >, Shape, NarrowPhaseSolver >
struct	BVHShapeCollider< RSS< typename Shape::S >, Shape, NarrowPhaseSolver >
class	BVHShapeCollisionTraversalNode
	Traversal node for collision between BVH and shape. More...
struct	BVHShapeDistancer
struct	BVHShapeDistancer< kIOS< typename Shape::S >, Shape, NarrowPhaseSolver >
struct	BVHShapeDistancer< OBBRSS< typename Shape::S >, Shape, NarrowPhaseSolver >
struct	BVHShapeDistancer< RSS< typename Shape::S >, Shape, NarrowPhaseSolver >
class	BVHShapeDistanceTraversalNode
	Traversal node for distance computation between BVH and shape. More...
class	BVSplitter
	A class describing the split rule that splits each BV node. More...
class	BVSplitterBase
	Base interface for BV splitting algorithm. More...
struct	BVT
	Bounding volume test structure. More...
struct	BVT_Comparer
	Comparer between two BVT. More...
struct	BVTQ
struct	CanStopImpl
struct	CanStopImpl< S, OBB< S > >
struct	CanStopImpl< S, OBBRSS< S > >
struct	CanStopImpl< S, RSS< S > >
struct	ccd_box_t
struct	ccd_cap_t
struct	ccd_cone_t
struct	ccd_convex_t
struct	ccd_cyl_t
struct	ccd_ellipsoid_t
struct	ccd_obj_t
struct	ccd_sphere_t
struct	ccd_triangle_t
struct	CollisionFunctionMatrix
	collision matrix stores the functions for collision between different types of objects and provides a uniform call interface More...
class	CollisionTraversalNodeBase
	Node structure encoding the information required for collision traversal. More...
struct	ComputeBVImpl
struct	ComputeBVImpl< S, AABB< S >, Box< S > >
struct	ComputeBVImpl< S, AABB< S >, Capsule< S > >
struct	ComputeBVImpl< S, AABB< S >, Cone< S > >
struct	ComputeBVImpl< S, AABB< S >, Convex< S > >
struct	ComputeBVImpl< S, AABB< S >, Cylinder< S > >
struct	ComputeBVImpl< S, AABB< S >, Ellipsoid< S > >
struct	ComputeBVImpl< S, AABB< S >, Halfspace< S > >
struct	ComputeBVImpl< S, AABB< S >, Plane< S > >
struct	ComputeBVImpl< S, AABB< S >, Sphere< S > >
struct	ComputeBVImpl< S, AABB< S >, TriangleP< S > >
struct	ComputeBVImpl< S, KDOP< S, 16 >, Halfspace< S > >
struct	ComputeBVImpl< S, KDOP< S, 16 >, Plane< S > >
struct	ComputeBVImpl< S, KDOP< S, 18 >, Halfspace< S > >
struct	ComputeBVImpl< S, KDOP< S, 18 >, Plane< S > >
struct	ComputeBVImpl< S, KDOP< S, 24 >, Halfspace< S > >
struct	ComputeBVImpl< S, KDOP< S, 24 >, Plane< S > >
struct	ComputeBVImpl< S, kIOS< S >, Halfspace< S > >
struct	ComputeBVImpl< S, kIOS< S >, Plane< S > >
struct	ComputeBVImpl< S, OBB< S >, Box< S > >
struct	ComputeBVImpl< S, OBB< S >, Capsule< S > >
struct	ComputeBVImpl< S, OBB< S >, Cone< S > >
struct	ComputeBVImpl< S, OBB< S >, Convex< S > >
struct	ComputeBVImpl< S, OBB< S >, Cylinder< S > >
struct	ComputeBVImpl< S, OBB< S >, Ellipsoid< S > >
struct	ComputeBVImpl< S, OBB< S >, Halfspace< S > >
struct	ComputeBVImpl< S, OBB< S >, Plane< S > >
struct	ComputeBVImpl< S, OBB< S >, Sphere< S > >
struct	ComputeBVImpl< S, OBBRSS< S >, Halfspace< S > >
struct	ComputeBVImpl< S, OBBRSS< S >, Plane< S > >
struct	ComputeBVImpl< S, RSS< S >, Halfspace< S > >
struct	ComputeBVImpl< S, RSS< S >, Plane< S > >
struct	ComputeRuleCenterImpl
struct	ComputeRuleCenterImpl< S, kIOS< S > >
struct	ComputeRuleCenterImpl< S, OBB< S > >
struct	ComputeRuleCenterImpl< S, OBBRSS< S > >
struct	ComputeRuleCenterImpl< S, RSS< S > >
struct	ComputeRuleMeanImpl
struct	ComputeRuleMeanImpl< S, kIOS< S > >
struct	ComputeRuleMeanImpl< S, OBB< S > >
struct	ComputeRuleMeanImpl< S, OBBRSS< S > >
struct	ComputeRuleMeanImpl< S, RSS< S > >
struct	ComputeRuleMedianImpl
struct	ComputeRuleMedianImpl< S, kIOS< S > >
struct	ComputeRuleMedianImpl< S, OBB< S > >
struct	ComputeRuleMedianImpl< S, OBBRSS< S > >
struct	ComputeRuleMedianImpl< S, RSS< S > >
struct	ComputeSplitVectorImpl
struct	ComputeSplitVectorImpl< S, kIOS< S > >
struct	ComputeSplitVectorImpl< S, OBBRSS< S > >
struct	ConservativeAdvancementFunctionMatrix
struct	ConservativeAdvancementImpl
struct	ConservativeAdvancementImpl< S, BVHModel< OBBRSS< S > >, NarrowPhaseSolver >
struct	ConservativeAdvancementImpl< S, BVHModel< RSS< S > >, NarrowPhaseSolver >
struct	ConservativeAdvancementStackData
class	ConvertBVImpl
	Convert a bounding volume of type BV1 in configuration tf1 to a bounding volume of type BV2 in I configuration. More...
class	ConvertBVImpl< S, AABB< S >, AABB< S > >
	Convert from AABB to AABB, not very tight but is fast. More...
class	ConvertBVImpl< S, AABB< S >, OBB< S > >
class	ConvertBVImpl< S, AABB< S >, RSS< S > >
class	ConvertBVImpl< S, BV1, AABB< S > >
class	ConvertBVImpl< S, BV1, OBB< S > >
class	ConvertBVImpl< S, OBB< S >, OBB< S > >
class	ConvertBVImpl< S, OBB< S >, RSS< S > >
class	ConvertBVImpl< S, OBBRSS< S >, OBB< S > >
class	ConvertBVImpl< S, OBBRSS< S >, RSS< S > >
class	ConvertBVImpl< S, RSS< S >, OBB< S > >
class	ConvertBVImpl< S, RSS< S >, RSS< S > >
struct	dataDoubleVal
struct	dataIntVal
struct	DistanceFunctionMatrix
	distance matrix stores the functions for distance between different types of objects and provides a uniform call interface More...
class	DistanceTraversalNodeBase
	Node structure encoding the information required for distance traversal. More...
struct	EPA
	class for EPA algorithm More...
class	EquilateralTetrahedron
class	ExtractClosestPoint
class	FailedAtThisConfiguration
struct	FitImpl
struct	FitImpl< S, kIOS< S > >
struct	FitImpl< S, OBB< S > >
struct	FitImpl< S, OBBRSS< S > >
struct	FitImpl< S, RSS< S > >
struct	Fitter
struct	Fitter< S, kIOS< S > >
struct	Fitter< S, OBB< S > >
struct	Fitter< S, OBBRSS< S > >
struct	Fitter< S, RSS< S > >
struct	GetBVAxisImpl
	for OBB and RSS, there is local coordinate of BV, so normal need to be transformed More...
struct	GetBVAxisImpl< S, OBBRSS< S > >
struct	GJK
	class for GJK algorithm More...
class	GJKInitializer
	initialize GJK stuffs More...
class	GJKInitializer< S, Box< S > >
	initialize GJK Box More...
class	GJKInitializer< S, Capsule< S > >
	initialize GJK Capsule More...
class	GJKInitializer< S, Cone< S > >
	initialize GJK Cone More...
class	GJKInitializer< S, Convex< S > >
	initialize GJK Convex More...
class	GJKInitializer< S, Cylinder< S > >
	initialize GJK Cylinder More...
class	GJKInitializer< S, Ellipsoid< S > >
	initialize GJK Ellipsoid More...
class	GJKInitializer< S, Sphere< S > >
	initialize GJK Sphere More...
struct	GJKSolver_indep
	collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the GJK in bullet) More...
struct	GJKSolver_libccd
	collision and distance solver based on libccd library. More...
class	Hexagram
class	HierarchyTree
	Class for hierarchy tree structure. More...
class	Intersect
	CCD intersect kernel among primitives. More...
class	IntervalTree
	Interval tree. More...
class	IntervalTreeNode
	The node for interval tree. More...
struct	it_recursion_node
	Class describes the information needed when we take the right branch in searching for intervals but possibly come back and check the left branch as well. More...
class	MeshCollisionTraversalNode
	Traversal node for collision between two meshes. More...
class	MeshCollisionTraversalNodekIOS
class	MeshCollisionTraversalNodeOBB
	Traversal node for collision between two meshes if their underlying BVH node is oriented node (OBB, RSS, OBBRSS, kIOS) More...
class	MeshCollisionTraversalNodeOBBRSS
class	MeshCollisionTraversalNodeRSS
class	MeshConservativeAdvancementTraversalNode
	continuous collision node using conservative advancement. when using this default version, must refit the BVH in current configuration (R_t, T_t) into default configuration More...
class	MeshConservativeAdvancementTraversalNodeOBBRSS
class	MeshConservativeAdvancementTraversalNodeRSS
class	MeshContinuousCollisionTraversalNode
	Traversal node for continuous collision between meshes. More...
class	MeshDistanceTraversalNode
	Traversal node for distance computation between two meshes. More...
class	MeshDistanceTraversalNodekIOS
class	MeshDistanceTraversalNodeOBBRSS
class	MeshDistanceTraversalNodeRSS
	Traversal node for distance computation between two meshes if their underlying BVH node is oriented node (RSS, OBBRSS, kIOS) More...
class	MeshOcTreeCollisionTraversalNode
	Traversal node for mesh-octree collision. More...
class	MeshOcTreeDistanceTraversalNode
	Traversal node for mesh-octree distance. More...
class	MeshShapeCollisionTraversalNode
	Traversal node for collision between mesh and shape. More...
class	MeshShapeCollisionTraversalNodekIOS
class	MeshShapeCollisionTraversalNodeOBB
	Traversal node for mesh and shape, when mesh BVH is one of the oriented node (OBB, RSS, OBBRSS, kIOS) More...
class	MeshShapeCollisionTraversalNodeOBBRSS
class	MeshShapeCollisionTraversalNodeRSS
class	MeshShapeConservativeAdvancementTraversalNode
	Traversal node for conservative advancement computation between BVH and shape. More...
class	MeshShapeConservativeAdvancementTraversalNodeOBBRSS
class	MeshShapeConservativeAdvancementTraversalNodeRSS
class	MeshShapeDistanceTraversalNode
	Traversal node for distance between mesh and shape. More...
class	MeshShapeDistanceTraversalNodekIOS
class	MeshShapeDistanceTraversalNodeOBBRSS
class	MeshShapeDistanceTraversalNodeRSS
	Traversal node for distance between mesh and shape, when mesh BVH is one of the oriented node (RSS, OBBRSS, kIOS) More...
struct	MinkowskiDiff
	Minkowski difference class of two shapes. More...
struct	NodeBase
	dynamic AABB tree node More...
class	OcTreeCollisionTraversalNode
	Traversal node for octree collision. More...
class	OcTreeDistanceTraversalNode
	Traversal node for octree distance. More...
class	OcTreeMeshCollisionTraversalNode
	Traversal node for octree-mesh collision. More...
class	OcTreeMeshDistanceTraversalNode
	Traversal node for octree-mesh distance. More...
class	OcTreeShapeCollisionTraversalNode
	Traversal node for octree-shape collision. More...
class	OcTreeShapeDistanceTraversalNode
	Traversal node for octree-shape distance. More...
class	OcTreeSolver
	Algorithms for collision related with octree. More...
class	PolySolver
	A class solves polynomial degree (1,2,3) equations. More...
class	Polytope
class	Profiler
	This is a simple thread-safe tool for counting time spent in various chunks of code. This is different from external profiling tools in that it allows the user to count time spent in various bits of code (sub-function granularity) or count how many times certain pieces of code are executed. More...
class	Project
	Project functions. More...
struct	ScalarRepr
struct	ScalarRepr< double >
struct	ScalarRepr< float >
struct	ScalarTrait
struct	ScalarTrait< double >
struct	ScalarTrait< float >
struct	ScalarTrait< long double >
class	Seed
struct	SelectImpl
struct	SelectImpl< S, AABB< S > >
struct	SetImpl
struct	SetImpl< S, kIOS< S > >
struct	SetImpl< S, OBB< S > >
struct	SetImpl< S, OBBRSS< S > >
struct	SetImpl< S, RSS< S > >
class	ShapeBVHCollisionTraversalNode
	Traversal node for collision between shape and BVH. More...
class	ShapeBVHDistanceTraversalNode
	Traversal node for distance computation between shape and BVH. More...
class	ShapeCollisionTraversalNode
	Traversal node for collision between two shapes. More...
class	ShapeConservativeAdvancementTraversalNode
struct	ShapeDistanceIndepImpl
struct	ShapeDistanceIndepImpl< S, Box< S >, Sphere< S > >
struct	ShapeDistanceIndepImpl< S, Capsule< S >, Capsule< S > >
struct	ShapeDistanceIndepImpl< S, Capsule< S >, Sphere< S > >
struct	ShapeDistanceIndepImpl< S, Cylinder< S >, Sphere< S > >
struct	ShapeDistanceIndepImpl< S, Sphere< S >, Box< S > >
struct	ShapeDistanceIndepImpl< S, Sphere< S >, Capsule< S > >
struct	ShapeDistanceIndepImpl< S, Sphere< S >, Cylinder< S > >
struct	ShapeDistanceIndepImpl< S, Sphere< S >, Sphere< S > >
struct	ShapeDistanceLibccdImpl
struct	ShapeDistanceLibccdImpl< S, Box< S >, Sphere< S > >
struct	ShapeDistanceLibccdImpl< S, Capsule< S >, Capsule< S > >
struct	ShapeDistanceLibccdImpl< S, Capsule< S >, Sphere< S > >
struct	ShapeDistanceLibccdImpl< S, Cylinder< S >, Sphere< S > >
struct	ShapeDistanceLibccdImpl< S, Sphere< S >, Box< S > >
struct	ShapeDistanceLibccdImpl< S, Sphere< S >, Capsule< S > >
struct	ShapeDistanceLibccdImpl< S, Sphere< S >, Cylinder< S > >
struct	ShapeDistanceLibccdImpl< S, Sphere< S >, Sphere< S > >
class	ShapeDistanceTraversalNode
	Traversal node for distance between two shapes. More...
struct	ShapeIntersectIndepImpl
struct	ShapeIntersectIndepImpl< S, Halfspace< S >, Halfspace< S > >
struct	ShapeIntersectIndepImpl< S, Halfspace< S >, Plane< S > >
struct	ShapeIntersectIndepImpl< S, Plane< S >, Halfspace< S > >
struct	ShapeIntersectIndepImpl< S, Plane< S >, Plane< S > >
struct	ShapeIntersectLibccdImpl
struct	ShapeIntersectLibccdImpl< S, Halfspace< S >, Halfspace< S > >
struct	ShapeIntersectLibccdImpl< S, Halfspace< S >, Plane< S > >
struct	ShapeIntersectLibccdImpl< S, Plane< S >, Halfspace< S > >
struct	ShapeIntersectLibccdImpl< S, Plane< S >, Plane< S > >
class	ShapeMeshCollisionTraversalNode
	Traversal node for collision between shape and mesh. More...
class	ShapeMeshCollisionTraversalNodekIOS
class	ShapeMeshCollisionTraversalNodeOBB
	Traversal node for shape and mesh, when mesh BVH is one of the oriented node (OBB, RSS, OBBRSS, kIOS) More...
class	ShapeMeshCollisionTraversalNodeOBBRSS
class	ShapeMeshCollisionTraversalNodeRSS
class	ShapeMeshConservativeAdvancementTraversalNode
class	ShapeMeshConservativeAdvancementTraversalNodeOBBRSS
class	ShapeMeshConservativeAdvancementTraversalNodeRSS
class	ShapeMeshDistanceTraversalNode
	Traversal node for distance between shape and mesh. More...
class	ShapeMeshDistanceTraversalNodekIOS
class	ShapeMeshDistanceTraversalNodeOBBRSS
class	ShapeMeshDistanceTraversalNodeRSS
class	ShapeOcTreeCollisionTraversalNode
	Traversal node for shape-octree collision. More...
class	ShapeOcTreeDistanceTraversalNode
	Traversal node for shape-octree distance. More...
struct	ShapeSignedDistanceLibccdImpl
struct	ShapeTransformedTriangleDistanceIndepImpl
struct	ShapeTransformedTriangleDistanceIndepImpl< S, Sphere< S > >
struct	ShapeTransformedTriangleDistanceLibccdImpl
struct	ShapeTransformedTriangleDistanceLibccdImpl< S, Sphere< S > >
struct	ShapeTransformedTriangleIntersectIndepImpl
struct	ShapeTransformedTriangleIntersectIndepImpl< S, Halfspace< S > >
struct	ShapeTransformedTriangleIntersectIndepImpl< S, Plane< S > >
struct	ShapeTransformedTriangleIntersectIndepImpl< S, Sphere< S > >
struct	ShapeTransformedTriangleIntersectLibccdImpl
struct	ShapeTransformedTriangleIntersectLibccdImpl< S, Halfspace< S > >
struct	ShapeTransformedTriangleIntersectLibccdImpl< S, Plane< S > >
struct	ShapeTransformedTriangleIntersectLibccdImpl< S, Sphere< S > >
struct	ShapeTriangleDistanceIndepImpl
struct	ShapeTriangleDistanceIndepImpl< S, Sphere< S > >
struct	ShapeTriangleDistanceLibccdImpl
struct	ShapeTriangleDistanceLibccdImpl< S, Sphere< S > >
struct	ShapeTriangleIntersectIndepImpl
struct	ShapeTriangleIntersectIndepImpl< S, Sphere< S > >
struct	ShapeTriangleIntersectLibccdImpl
struct	ShapeTriangleIntersectLibccdImpl< S, Sphere< S > >
class	SimpleHashTable
	A simple hash table implemented as multiple buckets. HashFnc is any extended hash function: HashFnc(key) = {index1, index2, ..., }. More...
struct	SimpleInterval
	Interval trees implemented using red-black-trees as described in the book Introduction_To_Algorithms_ by Cormen, Leisserson, and Rivest. More...
struct	SortDoubleByValue
struct	SortIntByValue
class	SparseHashTable
	A hash table implemented using unordered_map. More...
struct	SpatialHash
	Spatial hash function: hash an AABB to a set of integer values. More...
struct	SphereSpecification
class	Tetrahedron
class	TraversalNodeBase
	Node structure encoding the information required for traversal. More...
class	TriangleDistance
	Triangle distance functions. More...
class	unordered_map_hash_table
struct	UpdateImpl

Typedefs
using	BVHFrontList = std::list< BVHFrontNode >
	BVH front list is a list of front nodes. More...
using	CollisionTraversalNodeBased = CollisionTraversalNodeBase< double >
using	CollisionTraversalNodeBasef = CollisionTraversalNodeBase< float >
using	DistanceFn = std::function< ccd_real_t(const void *, const void *, const ccd_t *, ccd_vec3_t *, ccd_vec3_t *)>
using	EPAd = EPA< double >
using	EPAf = EPA< float >
using	GJKCenterFunction = void(*)(const void *obj, ccd_vec3_t *c)
using	GJKd = GJK< double >
using	GJKf = GJK< float >
using	GJKSolver_indepd = GJKSolver_indep< double >
using	GJKSolver_indepf = GJKSolver_indep< float >
using	GJKSolver_libccdd = GJKSolver_libccd< double >
using	GJKSolver_libccdf = GJKSolver_libccd< float >
using	GJKSupportFunction = void(*)(const void *obj, const ccd_vec3_t *dir_, ccd_vec3_t *v)
	callback function used by GJK algorithm More...
using	Intersectd = Intersect< double >
using	Intersectf = Intersect< float >
using	IntervalTreed = IntervalTree< double >
using	IntervalTreef = IntervalTree< float >
using	IntervalTreeNoded = IntervalTreeNode< double >
using	IntervalTreeNodef = IntervalTreeNode< float >
using	it_recursion_noded = it_recursion_node< double >
using	it_recursion_nodef = it_recursion_node< float >
using	MeshCollisionTraversalNodekIOSd = MeshCollisionTraversalNodekIOS< double >
using	MeshCollisionTraversalNodekIOSf = MeshCollisionTraversalNodekIOS< float >
using	MeshCollisionTraversalNodeOBBd = MeshCollisionTraversalNodeOBB< double >
using	MeshCollisionTraversalNodeOBBf = MeshCollisionTraversalNodeOBB< float >
using	MeshCollisionTraversalNodeOBBRSSd = MeshCollisionTraversalNodeOBBRSS< double >
using	MeshCollisionTraversalNodeOBBRSSf = MeshCollisionTraversalNodeOBBRSS< float >
using	MeshCollisionTraversalNodeRSSd = MeshCollisionTraversalNodeRSS< double >
using	MeshCollisionTraversalNodeRSSf = MeshCollisionTraversalNodeRSS< float >
using	MeshConservativeAdvancementTraversalNodeOBBRSSd = MeshConservativeAdvancementTraversalNodeOBBRSS< double >
using	MeshConservativeAdvancementTraversalNodeOBBRSSf = MeshConservativeAdvancementTraversalNodeOBBRSS< float >
using	MeshConservativeAdvancementTraversalNodeRSSd = MeshConservativeAdvancementTraversalNodeRSS< double >
using	MeshConservativeAdvancementTraversalNodeRSSf = MeshConservativeAdvancementTraversalNodeRSS< float >
using	MeshDistanceTraversalNodekIOSd = MeshDistanceTraversalNodekIOS< double >
using	MeshDistanceTraversalNodekIOSf = MeshDistanceTraversalNodekIOS< float >
using	MeshDistanceTraversalNodeOBBRSSd = MeshDistanceTraversalNodeOBBRSS< double >
using	MeshDistanceTraversalNodeOBBRSSf = MeshDistanceTraversalNodeOBBRSS< float >
using	MeshDistanceTraversalNodeRSSd = MeshDistanceTraversalNodeRSS< double >
using	MeshDistanceTraversalNodeRSSf = MeshDistanceTraversalNodeRSS< float >
using	MinkowskiDiffd = MinkowskiDiff< double >
using	MinkowskiDifff = MinkowskiDiff< float >
using	PolySolverd = PolySolver< double >
using	PolySolverf = PolySolver< float >
using	Projectd = Project< double >
using	Projectf = Project< float >
using	SimpleIntervald = SimpleInterval< double >
using	SimpleIntervalf = SimpleInterval< float >
using	SpatialHashd = SpatialHash< double >
using	SpatialHashf = SpatialHash< float >
using	TriangleDistanced = TriangleDistance< double >
using	TriangleDistancef = TriangleDistance< float >
using	Vector3d = Vector3< double >

Enumerations
enum	SplitMethodType { SPLIT_METHOD_MEAN, SPLIT_METHOD_MEDIAN, SPLIT_METHOD_BV_CENTER }
	Three types of split algorithms are provided in FCL as default. More...

Functions
bool	are_coincident (const Vector3d &p, const Vector3d &q)
::testing::AssertionResult	are_same (const Vector3d &expected, const ccd_vec3_t &tested, double tolerance)
template int	boxBox2 (const Vector3< double > &side1, const Transform3< double > &tf1, const Vector3< double > &side2, const Transform3< double > &tf2, Vector3< double > &normal, double *depth, int *return_code, int maxc, std::vector< ContactPoint< double >> &contacts)
template<typename S , typename DerivedA , typename DerivedB >
FCL_EXPORT int	boxBox2 (const Vector3< S > &side1, const Eigen::MatrixBase< DerivedA > &R1, const Eigen::MatrixBase< DerivedB > &T1, const Vector3< S > &side2, const Eigen::MatrixBase< DerivedA > &R2, const Eigen::MatrixBase< DerivedB > &T2, Vector3< S > &normal, S *depth, int *return_code, int maxc, std::vector< ContactPoint< S >> &contacts)
template<typename S , typename DerivedA , typename DerivedB >
int	boxBox2 (const Vector3< S > &side1, const Eigen::MatrixBase< DerivedA > &R1, const Eigen::MatrixBase< DerivedB > &T1, const Vector3< S > &side2, const Eigen::MatrixBase< DerivedA > &R2, const Eigen::MatrixBase< DerivedB > &T2, Vector3< S > &normal, S *depth, int *return_code, int maxc, std::vector< ContactPoint< S >> &contacts)
template<typename S >
FCL_EXPORT int	boxBox2 (const Vector3< S > &side1, const Transform3< S > &tf1, const Vector3< S > &side2, const Transform3< S > &tf2, Vector3< S > &normal, S *depth, int *return_code, int maxc, std::vector< ContactPoint< S >> &contacts)
template<typename S >
int	boxBox2 (const Vector3< S > &side1, const Transform3< S > &tf1, const Vector3< S > &side2, const Transform3< S > &tf2, Vector3< S > &normal, S *depth, int *return_code, int maxc, std::vector< ContactPoint< S >> &contacts)
template bool	boxBoxIntersect (const Box< double > &s1, const Transform3< double > &tf1, const Box< double > &s2, const Transform3< double > &tf2, std::vector< ContactPoint< double >> *contacts_)
template<typename S >
FCL_EXPORT bool	boxBoxIntersect (const Box< S > &s1, const Transform3< S > &tf1, const Box< S > &s2, const Transform3< S > &tf2, std::vector< ContactPoint< S >> *contacts_)
template<typename S >
bool	boxBoxIntersect (const Box< S > &s1, const Transform3< S > &tf1, const Box< S > &s2, const Transform3< S > &tf2, std::vector< ContactPoint< S >> *contacts_)
template bool	boxHalfspaceIntersect (const Box< double > &s1, const Transform3< double > &tf1, const Halfspace< double > &s2, const Transform3< double > &tf2)
template bool	boxHalfspaceIntersect (const Box< double > &s1, const Transform3< double > &tf1, const Halfspace< double > &s2, const Transform3< double > &tf2, std::vector< ContactPoint< double >> *contacts)
template<typename S >
FCL_EXPORT bool	boxHalfspaceIntersect (const Box< S > &s1, const Transform3< S > &tf1, const Halfspace< S > &s2, const Transform3< S > &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...
template<typename S >
bool	boxHalfspaceIntersect (const Box< S > &s1, const Transform3< S > &tf1, const Halfspace< S > &s2, const Transform3< S > &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...
template<typename S >
FCL_EXPORT bool	boxHalfspaceIntersect (const Box< S > &s1, const Transform3< S > &tf1, const Halfspace< S > &s2, const Transform3< S > &tf2, std::vector< ContactPoint< S >> *contacts)
template<typename S >
bool	boxHalfspaceIntersect (const Box< S > &s1, const Transform3< S > &tf1, const Halfspace< S > &s2, const Transform3< S > &tf2, std::vector< ContactPoint< S >> *contacts)
template bool	boxPlaneIntersect (const Box< double > &s1, const Transform3< double > &tf1, const Plane< double > &s2, const Transform3< double > &tf2, std::vector< ContactPoint< double >> *contacts)
template<typename S >
FCL_EXPORT bool	boxPlaneIntersect (const Box< S > &s1, const Transform3< S > &tf1, const Plane< S > &s2, const Transform3< S > &tf2, std::vector< ContactPoint< S >> *contacts)
	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...
template<typename S >
bool	boxPlaneIntersect (const Box< S > &s1, const Transform3< S > &tf1, const Plane< S > &s2, const Transform3< S > &tf2, std::vector< ContactPoint< S >> *contacts)
	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...
template<typename S >
static void	boxToGJK (const Box< S > &s, const Transform3< S > &tf, ccd_box_t *box)
template<typename BV >
std::size_t	BVHCollide (const CollisionGeometry< typename BV::S > *o1, const Transform3< typename BV::S > &tf1, const CollisionGeometry< typename BV::S > *o2, const Transform3< typename BV::S > &tf2, const CollisionRequest< typename BV::S > &request, CollisionResult< typename BV::S > &result)
template<typename BV , typename NarrowPhaseSolver >
std::size_t	BVHCollide (const CollisionGeometry< typename BV::S > *o1, const Transform3< typename BV::S > &tf1, const CollisionGeometry< typename BV::S > *o2, const Transform3< typename BV::S > &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest< typename BV::S > &request, CollisionResult< typename BV::S > &result)
template<typename BV , typename NarrowPhaseSolver >
BV::S	BVHConservativeAdvancement (const CollisionGeometry< typename BV::S > *o1, const MotionBase< typename BV::S > *motion1, const CollisionGeometry< typename BV::S > *o2, const MotionBase< typename BV::S > *motion2, const NarrowPhaseSolver *nsolver, const ContinuousCollisionRequest< typename BV::S > &request, ContinuousCollisionResult< typename BV::S > &result)
template<typename BV >
BV::S	BVHDistance (const CollisionGeometry< typename BV::S > *o1, const Transform3< typename BV::S > &tf1, const CollisionGeometry< typename BV::S > *o2, const Transform3< typename BV::S > &tf2, const DistanceRequest< typename BV::S > &request, DistanceResult< typename BV::S > &result)
template<typename BV , typename NarrowPhaseSolver >
BV::S	BVHDistance (const CollisionGeometry< typename BV::S > *o1, const Transform3< typename BV::S > &tf1, const CollisionGeometry< typename BV::S > *o2, const Transform3< typename BV::S > &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest< typename BV::S > &request, DistanceResult< typename BV::S > &result)
template<typename BV , typename Shape , typename NarrowPhaseSolver >
BV::S	BVHShapeConservativeAdvancement (const CollisionGeometry< typename BV::S > *o1, const MotionBase< typename BV::S > *motion1, const CollisionGeometry< typename BV::S > *o2, const MotionBase< typename BV::S > *motion2, const NarrowPhaseSolver *nsolver, const ContinuousCollisionRequest< typename BV::S > &request, ContinuousCollisionResult< typename BV::S > &result)
template bool	capsuleCapsuleDistance (const Capsule< double > &s1, const Transform3< double > &tf1, const Capsule< double > &s2, const Transform3< double > &tf2, double *dist, Vector3d *p1_res, Vector3d *p2_res)
template<typename S >
FCL_EXPORT bool	capsuleCapsuleDistance (const Capsule< S > &s1, const Transform3< S > &X_FC1, const Capsule< S > &s2, const Transform3< S > &X_FC2, S *dist, Vector3< S > *p_FW1, Vector3< S > *p_FW2)
template<typename S >
bool	capsuleCapsuleDistance (const Capsule< S > &s1, const Transform3< S > &X_FC1, const Capsule< S > &s2, const Transform3< S > &X_FC2, S *dist, Vector3< S > *p_FW1, Vector3< S > *p_FW2)
template bool	capsuleHalfspaceIntersect (const Capsule< double > &s1, const Transform3< double > &tf1, const Halfspace< double > &s2, const Transform3< double > &tf2, std::vector< ContactPoint< double >> *contacts)
template<typename S >
FCL_EXPORT bool	capsuleHalfspaceIntersect (const Capsule< S > &s1, const Transform3< S > &tf1, const Halfspace< S > &s2, const Transform3< S > &tf2, std::vector< ContactPoint< S >> *contacts)
template<typename S >
bool	capsuleHalfspaceIntersect (const Capsule< S > &s1, const Transform3< S > &tf1, const Halfspace< S > &s2, const Transform3< S > &tf2, std::vector< ContactPoint< S >> *contacts)
template bool	capsulePlaneIntersect (const Capsule< double > &s1, const Transform3< double > &tf1, const Plane< double > &s2, const Transform3< double > &tf2)
template bool	capsulePlaneIntersect (const Capsule< double > &s1, const Transform3< double > &tf1, const Plane< double > &s2, const Transform3< double > &tf2, std::vector< ContactPoint< double >> *contacts)
template<typename S >
FCL_EXPORT bool	capsulePlaneIntersect (const Capsule< S > &s1, const Transform3< S > &tf1, const Plane< S > &s2, const Transform3< S > &tf2)
template<typename S >
bool	capsulePlaneIntersect (const Capsule< S > &s1, const Transform3< S > &tf1, const Plane< S > &s2, const Transform3< S > &tf2)
template<typename S >
FCL_EXPORT bool	capsulePlaneIntersect (const Capsule< S > &s1, const Transform3< S > &tf1, const Plane< S > &s2, const Transform3< S > &tf2, std::vector< ContactPoint< S >> *contacts)
template<typename S >
bool	capsulePlaneIntersect (const Capsule< S > &s1, const Transform3< S > &tf1, const Plane< S > &s2, const Transform3< S > &tf2, std::vector< ContactPoint< S >> *contacts)
template<typename S >
static void	capToGJK (const Capsule< S > &s, const Transform3< S > &tf, ccd_cap_t *cap)
Vector3d	ccd_to_eigen (const ccd_vec3_t &vector)
template<typename S >
static void	centerConvex (const void *obj, ccd_vec3_t *c)
static void	centerShape (const void *obj, ccd_vec3_t *c)
static void	centerTriangle (const void *obj, ccd_vec3_t *c)
void	CheckComputeVisiblePatch (const Polytope &polytope, ccd_pt_face_t &face, const ccd_vec3_t &new_vertex, const std::unordered_set< int > &border_edge_indices_expected, const std::unordered_set< int > &visible_face_indices_expected, const std::unordered_set< int > &internal_edges_indices_expected)
void	CheckComputeVisiblePatchColinearNewVertex (EquilateralTetrahedron &tet, double rho)
void	CheckComputeVisiblePatchCommon (const Polytope &polytope, const std::unordered_set< ccd_pt_edge_t * > &border_edges, const std::unordered_set< ccd_pt_face_t * > &visible_faces, const std::unordered_set< ccd_pt_edge_t * > &internal_edges, const std::unordered_set< int > &border_edge_indices_expected, const std::unordered_set< int > &visible_face_indices_expected, const std::unordered_set< int > internal_edges_indices_expected)
void	CheckComputeVisiblePatchRecursive (const Polytope &polytope, ccd_pt_face_t &face, const std::vector< int > &edge_indices, const ccd_vec3_t &new_vertex, const std::unordered_set< int > &border_edge_indices_expected, const std::unordered_set< int > &visible_face_indices_expected, const std::unordered_set< int > &internal_edges_indices_expected)
void	CheckTetrahedronFaceNormal (const Tetrahedron &p)
template double	clamp (double n, double min, double max)
template<typename S >
FCL_EXPORT S	clamp (S n, S min, S max)
template<typename S >
S	clamp (S n, S min, S max)
template<typename S >
FCL_EXPORT S	closestPtSegmentSegment (const Vector3< S > &p_FP1, const Vector3< S > &p_FQ1, const Vector3< S > &p_FP2, const Vector3< S > &p_FQ2, S *s, S *t, Vector3< S > *p_FC1, Vector3< S > *p_FC2)
template<typename S >
S	closestPtSegmentSegment (const Vector3< S > &p_FP1, const Vector3< S > &p_FQ1, const Vector3< S > &p_FP2, const Vector3< S > &p_FQ2, S *s, S *t, Vector3< S > *p_FC1, Vector3< S > *p_FC2)
template double	closestPtSegmentSegment (const Vector3d &p_FP1, const Vector3d &p_FQ1, const Vector3d &p_FP2, const Vector3d &p_FQ2, double *s, double *t, Vector3d *p_FC1, Vector3d *p_FC2)
template void	collide (CollisionTraversalNodeBase< double > *node, BVHFrontList *front_list)
template<typename S >
void	collide (CollisionTraversalNodeBase< S > *node, BVHFrontList *front_list)
	collision on collision traversal node; can use front list to accelerate More...
template<typename S >
FCL_EXPORT void	collide (CollisionTraversalNodeBase< S > *node, BVHFrontList *front_list=nullptr)
	collision on collision traversal node; can use front list to accelerate More...
template void	collide2 (MeshCollisionTraversalNodeOBB< double > *node, BVHFrontList *front_list)
template<typename S >
void	collide2 (MeshCollisionTraversalNodeOBB< S > *node, BVHFrontList *front_list)
	special collision on OBB traversal node More...
template<typename S >
FCL_EXPORT void	collide2 (MeshCollisionTraversalNodeOBB< S > *node, BVHFrontList *front_list=nullptr)
	special collision on OBB traversal node More...
template void	collide2 (MeshCollisionTraversalNodeRSS< double > *node, BVHFrontList *front_list)
template<typename S >
void	collide2 (MeshCollisionTraversalNodeRSS< S > *node, BVHFrontList *front_list)
	special collision on RSS traversal node More...
template<typename S >
FCL_EXPORT void	collide2 (MeshCollisionTraversalNodeRSS< S > *node, BVHFrontList *front_list=nullptr)
	special collision on RSS traversal node More...
template void	collisionRecurse (CollisionTraversalNodeBase< double > *node, int b1, int b2, BVHFrontList *front_list)
template<typename S >
FCL_EXPORT void	collisionRecurse (CollisionTraversalNodeBase< S > *node, int b1, int b2, BVHFrontList *front_list)
	Recurse function for collision. More...
template void	collisionRecurse (MeshCollisionTraversalNodeOBB< double > *node, int b1, int b2, const Matrix3< double > &R, const Vector3< double > &T, BVHFrontList *front_list)
template<typename S >
FCL_EXPORT void	collisionRecurse (MeshCollisionTraversalNodeOBB< S > *node, int b1, int b2, const Matrix3< S > &R, const Vector3< S > &T, BVHFrontList *front_list)
	Recurse function for collision, specialized for OBB type. More...
template void	collisionRecurse (MeshCollisionTraversalNodeRSS< double > *node, int b1, int b2, const Matrix3< double > &R, const Vector3< double > &T, BVHFrontList *front_list)
template<typename S >
FCL_EXPORT void	collisionRecurse (MeshCollisionTraversalNodeRSS< S > *node, int b1, int b2, const Matrix3< S > &R, const Vector3< S > &T, BVHFrontList *front_list)
	Recurse function for collision, specialized for RSS type. More...
void	CompareCcdVec3 (const ccd_vec3_t &v, const ccd_vec3_t &v_expected, ccd_real_t tol)
void	ComparePolytope (const ccd_pt_t *polytope1, const ccd_pt_t *polytope2, ccd_real_t tol)
template<typename S >
S	ComputeSphereSphereDistance (S radius1, S radius2, const Vector3< S > &p_F1, const Vector3< S > &p_F2)
template<typename S , typename BV >
void	computeSplitValue_bvcenter (const BV &bv, S &split_value)
template<typename S , typename BV >
void	computeSplitValue_mean (const BV &bv, Vector3< S > *vertices, Triangle *triangles, unsigned int *primitive_indices, int num_primitives, BVHModelType type, const Vector3< S > &split_vector, S &split_value)
template<typename S , typename BV >
void	computeSplitValue_median (const BV &bv, Vector3< S > *vertices, Triangle *triangles, unsigned int *primitive_indices, int num_primitives, BVHModelType type, const Vector3< S > &split_vector, S &split_value)
template<typename S , typename BV >
void	computeSplitVector (const BV &bv, Vector3< S > &split_vector)
template bool	coneHalfspaceIntersect (const Cone< double > &s1, const Transform3< double > &tf1, const Halfspace< double > &s2, const Transform3< double > &tf2, std::vector< ContactPoint< double >> *contacts)
template<typename S >
FCL_EXPORT bool	coneHalfspaceIntersect (const Cone< S > &s1, const Transform3< S > &tf1, const Halfspace< S > &s2, const Transform3< S > &tf2, std::vector< ContactPoint< S >> *contacts)
template<typename S >
bool	coneHalfspaceIntersect (const Cone< S > &s1, const Transform3< S > &tf1, const Halfspace< S > &s2, const Transform3< S > &tf2, std::vector< ContactPoint< S >> *contacts)
template bool	conePlaneIntersect (const Cone< double > &s1, const Transform3< double > &tf1, const Plane< double > &s2, const Transform3< double > &tf2, std::vector< ContactPoint< double >> *contacts)
template<typename S >
FCL_EXPORT bool	conePlaneIntersect (const Cone< S > &s1, const Transform3< S > &tf1, const Plane< S > &s2, const Transform3< S > &tf2, std::vector< ContactPoint< S >> *contacts)
template<typename S >
bool	conePlaneIntersect (const Cone< S > &s1, const Transform3< S > &tf1, const Plane< S > &s2, const Transform3< S > &tf2, std::vector< ContactPoint< S >> *contacts)
template<typename S >
static void	coneToGJK (const Cone< S > &s, const Transform3< S > &tf, ccd_cone_t *cone)
template<typename BV >
bool	conservativeAdvancement (const BVHModel< BV > &o1, const MotionBase< typename BV::S > *motion1, const BVHModel< BV > &o2, const MotionBase< typename BV::S > *motion2, const CollisionRequest< typename BV::S > &request, CollisionResult< typename BV::S > &result, typename BV::S &toc)
template<typename BV , typename Shape , typename NarrowPhaseSolver >
bool	conservativeAdvancement (const BVHModel< BV > &o1, const MotionBase< typename BV::S > *motion1, const Shape &o2, const MotionBase< typename BV::S > *motion2, const NarrowPhaseSolver *nsolver, const CollisionRequest< typename BV::S > &request, CollisionResult< typename BV::S > &result, typename BV::S &toc)
template<typename Shape , typename NarrowPhaseSolver >
bool	conservativeAdvancement (const BVHModel< OBBRSS< typename Shape::S >> &o1, const MotionBase< typename Shape::S > *motion1, const Shape &o2, const MotionBase< typename Shape::S > *motion2, const NarrowPhaseSolver *nsolver, const CollisionRequest< typename Shape::S > &request, CollisionResult< typename Shape::S > &result, typename Shape::S &toc)
template<typename Shape , typename NarrowPhaseSolver >
bool	conservativeAdvancement (const BVHModel< RSS< typename Shape::S >> &o1, const MotionBase< typename Shape::S > *motion1, const Shape &o2, const MotionBase< typename Shape::S > *motion2, const NarrowPhaseSolver *nsolver, const CollisionRequest< typename Shape::S > &request, CollisionResult< typename Shape::S > &result, typename Shape::S &toc)
template<typename Shape , typename BV , typename NarrowPhaseSolver >
bool	conservativeAdvancement (const Shape &o1, const MotionBase< typename BV::S > *motion1, const BVHModel< BV > &o2, const MotionBase< typename BV::S > *motion2, const NarrowPhaseSolver *nsolver, const CollisionRequest< typename BV::S > &request, CollisionResult< typename BV::S > &result, typename BV::S &toc)
template<typename Shape , typename NarrowPhaseSolver >
bool	conservativeAdvancement (const Shape &o1, const MotionBase< typename Shape::S > *motion1, const BVHModel< OBBRSS< typename Shape::S >> &o2, const MotionBase< typename Shape::S > *motion2, const NarrowPhaseSolver *nsolver, const CollisionRequest< typename Shape::S > &request, CollisionResult< typename Shape::S > &result, typename Shape::S &toc)
template<typename Shape , typename NarrowPhaseSolver >
bool	conservativeAdvancement (const Shape &o1, const MotionBase< typename Shape::S > *motion1, const BVHModel< RSS< typename Shape::S >> &o2, const MotionBase< typename Shape::S > *motion2, const NarrowPhaseSolver *nsolver, const CollisionRequest< typename Shape::S > &request, CollisionResult< typename Shape::S > &result, typename Shape::S &toc)
template<typename Shape1 , typename Shape2 , typename NarrowPhaseSolver >
bool	conservativeAdvancement (const Shape1 &o1, const MotionBase< typename Shape1::S > *motion1, const Shape2 &o2, const MotionBase< typename Shape1::S > *motion2, const NarrowPhaseSolver *solver, const CollisionRequest< typename Shape1::S > &request, CollisionResult< typename Shape1::S > &result, typename Shape1::S &toc)
template<typename BV , typename ConservativeAdvancementOrientedNode >
bool	conservativeAdvancementMeshOriented (const BVHModel< BV > &o1, const MotionBase< typename BV::S > *motion1, const BVHModel< BV > &o2, const MotionBase< typename BV::S > *motion2, const CollisionRequest< typename BV::S > &request, CollisionResult< typename BV::S > &result, typename BV::S &toc)
template<typename BV , typename Shape , typename NarrowPhaseSolver , typename ConservativeAdvancementOrientedNode >
bool	conservativeAdvancementMeshShapeOriented (const BVHModel< BV > &o1, const MotionBase< typename BV::S > *motion1, const Shape &o2, const MotionBase< typename BV::S > *motion2, const NarrowPhaseSolver *nsolver, const CollisionRequest< typename BV::S > &request, CollisionResult< typename BV::S > &result, typename BV::S &toc)
template<typename Shape , typename BV , typename NarrowPhaseSolver , typename ConservativeAdvancementOrientedNode >
bool	conservativeAdvancementShapeMeshOriented (const Shape &o1, const MotionBase< typename BV::S > *motion1, const BVHModel< BV > &o2, const MotionBase< typename BV::S > *motion2, const NarrowPhaseSolver *nsolver, const CollisionRequest< typename BV::S > &request, CollisionResult< typename BV::S > &result, typename BV::S &toc)
template<typename BV >
FCL_EXPORT BV::S	continuousCollideBVHPolynomial (const CollisionGeometry< typename BV::S > *o1_, const TranslationMotion< typename BV::S > *motion1, const CollisionGeometry< typename BV::S > *o2_, const TranslationMotion< typename BV::S > *motion2, const ContinuousCollisionRequest< typename BV::S > &request, ContinuousCollisionResult< typename BV::S > &result)
template<typename NarrowPhaseSolver >
FCL_EXPORT NarrowPhaseSolver::S	continuousCollideConservativeAdvancement (const CollisionGeometry< typename NarrowPhaseSolver::S > *o1, const MotionBase< typename NarrowPhaseSolver::S > *motion1, const CollisionGeometry< typename NarrowPhaseSolver::S > *o2, const MotionBase< typename NarrowPhaseSolver::S > *motion2, const NarrowPhaseSolver *nsolver_, const ContinuousCollisionRequest< typename NarrowPhaseSolver::S > &request, ContinuousCollisionResult< typename NarrowPhaseSolver::S > &result)
template bool	convexHalfspaceIntersect (const Convex< double > &convex_C, const Transform3< double > &X_FC, const Halfspace< double > &half_space_H, const Transform3< double > &X_FH, std::vector< ContactPoint< double >> *contacts)
template bool	convexHalfspaceIntersect (const Convex< double > &s1, const Transform3< double > &tf1, const Halfspace< double > &s2, const Transform3< double > &tf2, Vector3< double > *contact_points, double *penetration_depth, Vector3< double > *normal)
template<typename S >
FCL_EXPORT bool	convexHalfspaceIntersect (const Convex< S > &convex_C, const Transform3< S > &X_FC, const Halfspace< S > &half_space_H, const Transform3< S > &X_FH, std::vector< ContactPoint< S >> *contacts)
	Reports whether a convex mesh and half space are intersecting. If contacts is not nullptr and the two geometries are intersecting, a new ContactPoint will be added to the data. More...
template<typename S >
bool	convexHalfspaceIntersect (const Convex< S > &convex_C, const Transform3< S > &X_FC, const Halfspace< S > &half_space_H, const Transform3< S > &X_FH, std::vector< ContactPoint< S >> *contacts)
	Reports whether a convex mesh and half space are intersecting. If contacts is not nullptr and the two geometries are intersecting, a new ContactPoint will be added to the data. More...
template<typename S >
FCL_EXPORT bool	convexHalfspaceIntersect (const Convex< S > &s1, const Transform3< S > &tf1, const Halfspace< S > &s2, const Transform3< S > &tf2, Vector3< S > *contact_points, S *penetration_depth, Vector3< S > *normal)
template<typename S >
bool	convexHalfspaceIntersect (const Convex< S > &s1, const Transform3< S > &tf1, const Halfspace< S > &s2, const Transform3< S > &tf2, Vector3< S > *contact_points, S *penetration_depth, Vector3< S > *normal)
template bool	convexPlaneIntersect (const Convex< double > &s1, const Transform3< double > &tf1, const Plane< double > &s2, const Transform3< double > &tf2, Vector3< double > *contact_points, double *penetration_depth, Vector3< double > *normal)
template<typename S >
FCL_EXPORT bool	convexPlaneIntersect (const Convex< S > &s1, const Transform3< S > &tf1, const Plane< S > &s2, const Transform3< S > &tf2, Vector3< S > *contact_points, S *penetration_depth, Vector3< S > *normal)
template<typename S >
bool	convexPlaneIntersect (const Convex< S > &s1, const Transform3< S > &tf1, const Plane< S > &s2, const Transform3< S > &tf2, Vector3< S > *contact_points, S *penetration_depth, Vector3< S > *normal)
template<typename S >
static void	convexToGJK (const Convex< S > &s, const Transform3< S > &tf, ccd_convex_t< S > *conv)
template void	cullPoints2 (int n, double p[], int m, int i0, int iret[])
template<typename S >
FCL_EXPORT void	cullPoints2 (int n, S p[], int m, int i0, int iret[])
template<typename S >
void	cullPoints2 (int n, S p[], int m, int i0, int iret[])
template bool	cylinderHalfspaceIntersect (const Cylinder< double > &s1, const Transform3< double > &tf1, const Halfspace< double > &s2, const Transform3< double > &tf2, std::vector< ContactPoint< double >> *contacts)
template<typename S >
FCL_EXPORT bool	cylinderHalfspaceIntersect (const Cylinder< S > &s1, const Transform3< S > &tf1, const Halfspace< S > &s2, const Transform3< S > &tf2, std::vector< ContactPoint< S >> *contacts)
template<typename S >
bool	cylinderHalfspaceIntersect (const Cylinder< S > &s1, const Transform3< S > &tf1, const Halfspace< S > &s2, const Transform3< S > &tf2, std::vector< ContactPoint< S >> *contacts)
template bool	cylinderPlaneIntersect (const Cylinder< double > &s1, const Transform3< double > &tf1, const Plane< double > &s2, const Transform3< double > &tf2)
template bool	cylinderPlaneIntersect (const Cylinder< double > &s1, const Transform3< double > &tf1, const Plane< double > &s2, const Transform3< double > &tf2, std::vector< ContactPoint< double >> *contacts)
template<typename S >
FCL_EXPORT bool	cylinderPlaneIntersect (const Cylinder< S > &s1, const Transform3< S > &tf1, const Plane< S > &s2, const Transform3< S > &tf2)
	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...
template<typename S >
bool	cylinderPlaneIntersect (const Cylinder< S > &s1, const Transform3< S > &tf1, const Plane< S > &s2, const Transform3< S > &tf2)
	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...
template<typename S >
FCL_EXPORT bool	cylinderPlaneIntersect (const Cylinder< S > &s1, const Transform3< S > &tf1, const Plane< S > &s2, const Transform3< S > &tf2, std::vector< ContactPoint< S >> *contacts)
template<typename S >
bool	cylinderPlaneIntersect (const Cylinder< S > &s1, const Transform3< S > &tf1, const Plane< S > &s2, const Transform3< S > &tf2, std::vector< ContactPoint< S >> *contacts)
template<typename S >
static void	cylToGJK (const Cylinder< S > &s, const Transform3< S > &tf, ccd_cyl_t *cyl)
template void	distance (DistanceTraversalNodeBase< double > *node, BVHFrontList *front_list, int qsize)
template<typename S >
void	distance (DistanceTraversalNodeBase< S > *node, BVHFrontList *front_list, int qsize)
	distance computation on distance traversal node; can use front list to accelerate More...
template<typename S >
FCL_EXPORT void	distance (DistanceTraversalNodeBase< S > *node, BVHFrontList *front_list=nullptr, int qsize=2)
	distance computation on distance traversal node; can use front list to accelerate More...
template<typename BV >
FCL_EXPORT void	distancePostprocessOrientedNode (const BVHModel< BV > *model1, const BVHModel< BV > *model2, const Transform3< typename BV::S > &tf1, const DistanceRequest< typename BV::S > &request, DistanceResult< typename BV::S > &result)
template<typename BV >
void	distancePostprocessOrientedNode (const BVHModel< BV > *model1, const BVHModel< BV > *model2, const Transform3< typename BV::S > &tf1, const DistanceRequest< typename BV::S > &request, DistanceResult< typename BV::S > &result)
template<typename BV >
FCL_EXPORT void	distancePreprocessOrientedNode (const BVHModel< BV > *model1, const BVHModel< BV > *model2, const Vector3< typename BV::S > *vertices1, Vector3< typename BV::S > *vertices2, Triangle *tri_indices1, Triangle *tri_indices2, int init_tri_id1, int init_tri_id2, const Matrix3< typename BV::S > &R, const Vector3< typename BV::S > &T, const DistanceRequest< typename BV::S > &request, DistanceResult< typename BV::S > &result)
template<typename BV >
void	distancePreprocessOrientedNode (const BVHModel< BV > *model1, const BVHModel< BV > *model2, const Vector3< typename BV::S > *vertices1, Vector3< typename BV::S > *vertices2, Triangle *tri_indices1, Triangle *tri_indices2, int init_tri_id1, int init_tri_id2, const Matrix3< typename BV::S > &R, const Vector3< typename BV::S > &T, const DistanceRequest< typename BV::S > &request, DistanceResult< typename BV::S > &result)
template<typename BV >
FCL_EXPORT void	distancePreprocessOrientedNode (const BVHModel< BV > *model1, const BVHModel< BV > *model2, const Vector3< typename BV::S > *vertices1, Vector3< typename BV::S > *vertices2, Triangle *tri_indices1, Triangle *tri_indices2, int init_tri_id1, int init_tri_id2, const Transform3< typename BV::S > &tf, const DistanceRequest< typename BV::S > &request, DistanceResult< typename BV::S > &result)
template<typename BV >
void	distancePreprocessOrientedNode (const BVHModel< BV > *model1, const BVHModel< BV > *model2, const Vector3< typename BV::S > *vertices1, Vector3< typename BV::S > *vertices2, Triangle *tri_indices1, Triangle *tri_indices2, int init_tri_id1, int init_tri_id2, const Transform3< typename BV::S > &tf, const DistanceRequest< typename BV::S > &request, DistanceResult< typename BV::S > &result)
template<typename BV , typename Shape , typename NarrowPhaseSolver >
void	distancePreprocessOrientedNode (const BVHModel< BV > *model1, Vector3< typename BV::S > *vertices, Triangle *tri_indices, int init_tri_id, const Shape &model2, const Transform3< typename BV::S > &tf1, const Transform3< typename BV::S > &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest< typename BV::S > &, DistanceResult< typename BV::S > &result)
template void	distanceQueueRecurse (DistanceTraversalNodeBase< double > *node, int b1, int b2, BVHFrontList *front_list, int qsize)
template<typename S >
FCL_EXPORT void	distanceQueueRecurse (DistanceTraversalNodeBase< S > *node, int b1, int b2, BVHFrontList *front_list, int qsize)
	Recurse function for distance, using queue acceleration. More...
template void	distanceRecurse (DistanceTraversalNodeBase< double > *node, int b1, int b2, BVHFrontList *front_list)
template<typename S >
FCL_EXPORT void	distanceRecurse (DistanceTraversalNodeBase< S > *node, int b1, int b2, BVHFrontList *front_list)
	Recurse function for distance. More...
bool	EdgeMatch (const ccd_pt_edge_t *e1, const ccd_pt_edge_t *e2, const std::unordered_map< ccd_pt_vertex_t *, ccd_pt_vertex_t * > &map_v1_to_v2)
ccd_vec3_t	eigen_to_ccd (const Vector3d &vector)
template bool	ellipsoidHalfspaceIntersect (const Ellipsoid< double > &s1, const Transform3< double > &tf1, const Halfspace< double > &s2, const Transform3< double > &tf2, std::vector< ContactPoint< double >> *contacts)
template<typename S >
FCL_EXPORT bool	ellipsoidHalfspaceIntersect (const Ellipsoid< S > &s1, const Transform3< S > &tf1, const Halfspace< S > &s2, const Transform3< S > &tf2, std::vector< ContactPoint< S >> *contacts)
template<typename S >
bool	ellipsoidHalfspaceIntersect (const Ellipsoid< S > &s1, const Transform3< S > &tf1, const Halfspace< S > &s2, const Transform3< S > &tf2, std::vector< ContactPoint< S >> *contacts)
template bool	ellipsoidPlaneIntersect (const Ellipsoid< double > &s1, const Transform3< double > &tf1, const Plane< double > &s2, const Transform3< double > &tf2, std::vector< ContactPoint< double >> *contacts)
template<typename S >
FCL_EXPORT bool	ellipsoidPlaneIntersect (const Ellipsoid< S > &s1, const Transform3< S > &tf1, const Plane< S > &s2, const Transform3< S > &tf2, std::vector< ContactPoint< S >> *contacts)
template<typename S >
bool	ellipsoidPlaneIntersect (const Ellipsoid< S > &s1, const Transform3< S > &tf1, const Plane< S > &s2, const Transform3< S > &tf2, std::vector< ContactPoint< S >> *contacts)
template<typename S >
static void	ellipsoidToGJK (const Ellipsoid< S > &s, const Transform3< S > &tf, ccd_ellipsoid_t *ellipsoid)
std::array< fcl::Vector3< ccd_real_t >, 4 >	EquilateralTetrahedronVertices (ccd_real_t bottom_center_x, ccd_real_t bottom_center_y, ccd_real_t bottom_center_z, ccd_real_t edge_length)
template<typename S , typename BV >
const FCL_EXPORT Vector3< S >	getBVAxis (const BV &bv, int i)
template<typename BV >
const Vector3< typename BV::S >	getBVAxis (const BV &bv, int i)
template<typename S >
FCL_EXPORT void	getExtentAndCenter_mesh (const Vector3< S > *const ps, const Vector3< S > *const ps2, Triangle *ts, unsigned int *indices, int n, const Matrix3< S > &axis, Vector3< S > &center, Vector3< S > &extent)
	Compute the bounding volume extent and center for a set or subset of points. The bounding volume axes are known. More...
template void	getExtentAndCenter_mesh (const Vector3d *const ps, const Vector3d *const ps2, Triangle *ts, unsigned int *indices, int n, const Matrix3d &axis, Vector3d &center, Vector3d &extent)
template<typename S >
FCL_EXPORT void	getExtentAndCenter_pointcloud (const Vector3< S > *const ps, const Vector3< S > *const ps2, unsigned int *indices, int n, const Matrix3< S > &axis, Vector3< S > &center, Vector3< S > &extent)
	Compute the bounding volume extent and center for a set or subset of points. The bounding volume axes are known. More...
template void	getExtentAndCenter_pointcloud (const Vector3d *const ps, const Vector3d *const ps2, unsigned int *indices, int n, const Matrix3d &axis, Vector3d &center, Vector3d &extent)
template<typename S , typename Derived >
Vector3< S >	getSupport (const ShapeBase< S > *shape, const Eigen::MatrixBase< Derived > &dir)
	the support function for shape More...
template<typename S , typename Derived >
FCL_EXPORT Vector3< S >	getSupport (const ShapeBase< S > *shape, const Eigen::MatrixBase< Derived > &dir)
	the support function for shape More...
template bool	GJKCollide (void *obj1, ccd_support_fn supp1, ccd_center_fn cen1, void *obj2, ccd_support_fn supp2, ccd_center_fn cen2, unsigned int max_iterations, double tolerance, Vector3d *contact_points, double *penetration_depth, Vector3d *normal)
template<typename S >
FCL_EXPORT bool	GJKCollide (void *obj1, ccd_support_fn supp1, ccd_center_fn cen1, void *obj2, ccd_support_fn supp2, ccd_center_fn cen2, unsigned int max_iterations, S tolerance, Vector3< S > *contact_points, S *penetration_depth, Vector3< S > *normal)
	GJK collision algorithm. More...
template<typename S >
bool	GJKCollide (void *obj1, ccd_support_fn supp1, ccd_center_fn cen1, void *obj2, ccd_support_fn supp2, ccd_center_fn cen2, unsigned int max_iterations, S tolerance, Vector3< S > *contact_points, S *penetration_depth, Vector3< S > *normal)
	GJK collision algorithm. More...
template bool	GJKDistance (void *obj1, ccd_support_fn supp1, void *obj2, ccd_support_fn supp2, unsigned int max_iterations, double tolerance, double *dist, Vector3d *p1, Vector3d *p2)
template<typename S >
FCL_EXPORT bool	GJKDistance (void *obj1, ccd_support_fn supp1, void *obj2, ccd_support_fn supp2, unsigned int max_iterations, S tolerance, S *dist, Vector3< S > *p1, Vector3< S > *p2)
template<typename S >
bool	GJKDistance (void *obj1, ccd_support_fn supp1, void *obj2, ccd_support_fn supp2, unsigned int max_iterations, S tolerance, S *res, Vector3< S > *p1, Vector3< S > *p2)
template<typename S >
bool	GJKDistanceImpl (void *obj1, ccd_support_fn supp1, void *obj2, ccd_support_fn supp2, unsigned int max_iterations, S tolerance, detail::DistanceFn distance_func, S *res, Vector3< S > *p1, Vector3< S > *p2)
template bool	GJKSignedDistance (void *obj1, ccd_support_fn supp1, void *obj2, ccd_support_fn supp2, unsigned int max_iterations, double tolerance, double *dist, Vector3d *p1, Vector3d *p2)
template<typename S >
FCL_EXPORT bool	GJKSignedDistance (void *obj1, ccd_support_fn supp1, void *obj2, ccd_support_fn supp2, unsigned int max_iterations, S tolerance, S *dist, Vector3< S > *p1, Vector3< S > *p2)
template<typename S >
bool	GJKSignedDistance (void *obj1, ccd_support_fn supp1, void *obj2, ccd_support_fn supp2, unsigned int max_iterations, S tolerance, S *res, Vector3< S > *p1, Vector3< S > *p2)
	GTEST_TEST (DegenerateGeometry, CoincidentPoints)
	GTEST_TEST (DegenerateGeometry, ZeroAreaTriangle)
	GTEST_TEST (FCL_GJK_EPA, ComputeVisiblePatch_2FacesVisible)
	GTEST_TEST (FCL_GJK_EPA, ComputeVisiblePatch_4FacesVisible)
	GTEST_TEST (FCL_GJK_EPA, ComputeVisiblePatch_TopAndSideFacesVisible)
	GTEST_TEST (FCL_GJK_EPA, ComputeVisiblePatch_TopFaceVisible)
	GTEST_TEST (FCL_GJK_EPA, ComputeVisiblePatchColinearNewVertex)
	GTEST_TEST (FCL_GJK_EPA, ComputeVisiblePatchSanityCheck)
	GTEST_TEST (FCL_GJK_EPA, convert2SimplexToTetrahedron)
	GTEST_TEST (FCL_GJK_EPA, expandPolytope_error)
	GTEST_TEST (FCL_GJK_EPA, expandPolytope_hexagram_1visible_face)
	GTEST_TEST (FCL_GJK_EPA, expandPolytope_hexagram_4_visible_faces)
	GTEST_TEST (FCL_GJK_EPA, expandPolytope_tetrahedron1)
	GTEST_TEST (FCL_GJK_EPA, expandPolytope_tetrahedron_2visible_faces)
	GTEST_TEST (FCL_GJK_EPA, faceNormalPointingOutward)
	GTEST_TEST (FCL_GJK_EPA, faceNormalPointingOutwardError)
	GTEST_TEST (FCL_GJK_EPA, faceNormalPointingOutwardOriginNearFace1)
	GTEST_TEST (FCL_GJK_EPA, faceNormalPointingOutwardOriginNearFace2)
	GTEST_TEST (FCL_GJK_EPA, isOutsidePolytopeFace)
	GTEST_TEST (FCL_GJK_EPA, isOutsidePolytopeFaceError)
	GTEST_TEST (FCL_GJK_EPA, penEPAPosClosest_edge)
	GTEST_TEST (FCL_GJK_EPA, penEPAPosClosest_face)
	GTEST_TEST (FCL_GJK_EPA, penEPAPosClosest_vertex)
	GTEST_TEST (FCL_GJK_EPA, supportEPADirection)
	GTEST_TEST (FCL_GJK_EPA, supportEPADirectionError)
	GTEST_TEST (FCL_GJKSignedDistance, box_box)
	GTEST_TEST (FCL_GJKSignedDistance, sphere_sphere)
template bool	halfspaceIntersect (const Halfspace< double > &s1, const Transform3< double > &tf1, const Halfspace< double > &s2, const Transform3< double > &tf2, Vector3< double > &p, Vector3< double > &d, Halfspace< double > &s, double &penetration_depth, int &ret)
template<typename S >
FCL_EXPORT bool	halfspaceIntersect (const Halfspace< S > &s1, const Transform3< S > &tf1, const Halfspace< S > &s2, const Transform3< S > &tf2, Vector3< S > &p, Vector3< S > &d, Halfspace< S > &s, S &penetration_depth, int &ret)
	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 More...
template<typename S >
bool	halfspaceIntersect (const Halfspace< S > &s1, const Transform3< S > &tf1, const Halfspace< S > &s2, const Transform3< S > &tf2, Vector3< S > &p, Vector3< S > &d, Halfspace< S > &s, S &penetration_depth, int &ret)
	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 More...
template<>
FCL_EXPORT float	halfspaceIntersectTolerance ()
template<typename S >
FCL_EXPORT S	halfspaceIntersectTolerance ()
template<typename S >
S	halfspaceIntersectTolerance ()
template bool	halfspacePlaneIntersect (const Halfspace< double > &s1, const Transform3< double > &tf1, const Plane< double > &s2, const Transform3< double > &tf2, Plane< double > &pl, Vector3< double > &p, Vector3< double > &d, double &penetration_depth, int &ret)
template<typename S >
FCL_EXPORT bool	halfspacePlaneIntersect (const Halfspace< S > &s1, const Transform3< S > &tf1, const Plane< S > &s2, const Transform3< S > &tf2, Plane< S > &pl, Vector3< S > &p, Vector3< S > &d, S &penetration_depth, int &ret)
template<typename S >
bool	halfspacePlaneIntersect (const Halfspace< S > &s1, const Transform3< S > &tf1, const Plane< S > &s2, const Transform3< S > &tf2, Plane< S > &pl, Vector3< S > &p, Vector3< S > &d, S &penetration_depth, int &ret)
template bool	halfspaceTriangleIntersect (const Halfspace< double > &s1, const Transform3< double > &tf1, const Vector3< double > &P1, const Vector3< double > &P2, const Vector3< double > &P3, const Transform3< double > &tf2, Vector3< double > *contact_points, double *penetration_depth, Vector3< double > *normal)
template<typename S >
FCL_EXPORT bool	halfspaceTriangleIntersect (const Halfspace< S > &s1, const Transform3< S > &tf1, const Vector3< S > &P1, const Vector3< S > &P2, const Vector3< S > &P3, const Transform3< S > &tf2, Vector3< S > *contact_points, S *penetration_depth, Vector3< S > *normal)
template<typename S >
bool	halfspaceTriangleIntersect (const Halfspace< S > &s1, const Transform3< S > &tf1, const Vector3< S > &P1, const Vector3< S > &P2, const Vector3< S > &P3, const Transform3< S > &tf2, Vector3< S > *contact_points, S *penetration_depth, Vector3< S > *normal)
template<typename BV >
bool	initialize (MeshCollisionTraversalNode< BV > &node, BVHModel< BV > &model1, Transform3< typename BV::S > &tf1, BVHModel< BV > &model2, Transform3< typename BV::S > &tf2, const CollisionRequest< typename BV::S > &request, CollisionResult< typename BV::S > &result, bool use_refit, bool refit_bottomup)
	Initialize traversal node for collision between two meshes, given the current transforms. More...
template<typename BV >
FCL_EXPORT bool	initialize (MeshCollisionTraversalNode< BV > &node, BVHModel< BV > &model1, Transform3< typename BV::S > &tf1, BVHModel< BV > &model2, Transform3< typename BV::S > &tf2, const CollisionRequest< typename BV::S > &request, CollisionResult< typename BV::S > &result, bool use_refit=false, bool refit_bottomup=false)
	Initialize traversal node for collision between two meshes, given the current transforms. More...
template bool	initialize (MeshCollisionTraversalNodekIOS< double > &node, const BVHModel< kIOS< double >> &model1, const Transform3< double > &tf1, const BVHModel< kIOS< double >> &model2, const Transform3< double > &tf2, const CollisionRequest< double > &request, CollisionResult< double > &result)
template<typename S >
FCL_EXPORT bool	initialize (MeshCollisionTraversalNodekIOS< S > &node, const BVHModel< kIOS< S >> &model1, const Transform3< S > &tf1, const BVHModel< kIOS< S >> &model2, const Transform3< S > &tf2, const CollisionRequest< S > &request, CollisionResult< S > &result)
	Initialize traversal node for collision between two meshes, specialized for kIOS type. More...
template<typename S >
bool	initialize (MeshCollisionTraversalNodekIOS< S > &node, const BVHModel< kIOS< S >> &model1, const Transform3< S > &tf1, const BVHModel< kIOS< S >> &model2, const Transform3< S > &tf2, const CollisionRequest< S > &request, CollisionResult< S > &result)
	Initialize traversal node for collision between two meshes, specialized for kIOS type. More...
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)
template<typename S >
FCL_EXPORT bool	initialize (MeshCollisionTraversalNodeOBB< S > &node, const BVHModel< OBB< S >> &model1, const Transform3< S > &tf1, const BVHModel< OBB< S >> &model2, const Transform3< S > &tf2, const CollisionRequest< S > &request, CollisionResult< S > &result)
	Initialize traversal node for collision between two meshes, specialized for OBB type. More...
template<typename S >
bool	initialize (MeshCollisionTraversalNodeOBB< S > &node, const BVHModel< OBB< S >> &model1, const Transform3< S > &tf1, const BVHModel< OBB< S >> &model2, const Transform3< S > &tf2, const CollisionRequest< S > &request, CollisionResult< S > &result)
	Initialize traversal node for collision between two meshes, specialized for OBB type. More...
template bool	initialize (MeshCollisionTraversalNodeOBBRSS< double > &node, const BVHModel< OBBRSS< double >> &model1, const Transform3< double > &tf1, const BVHModel< OBBRSS< double >> &model2, const Transform3< double > &tf2, const CollisionRequest< double > &request, CollisionResult< double > &result)
template<typename S >
FCL_EXPORT bool	initialize (MeshCollisionTraversalNodeOBBRSS< S > &node, const BVHModel< OBBRSS< S >> &model1, const Transform3< S > &tf1, const BVHModel< OBBRSS< S >> &model2, const Transform3< S > &tf2, const CollisionRequest< S > &request, CollisionResult< S > &result)
	Initialize traversal node for collision between two meshes, specialized for OBBRSS type. More...
template<typename S >
bool	initialize (MeshCollisionTraversalNodeOBBRSS< S > &node, const BVHModel< OBBRSS< S >> &model1, const Transform3< S > &tf1, const BVHModel< OBBRSS< S >> &model2, const Transform3< S > &tf2, const CollisionRequest< S > &request, CollisionResult< S > &result)
	Initialize traversal node for collision between two meshes, specialized for OBBRSS type. More...
template bool	initialize (MeshCollisionTraversalNodeRSS< double > &node, const BVHModel< RSS< double >> &model1, const Transform3< double > &tf1, const BVHModel< RSS< double >> &model2, const Transform3< double > &tf2, const CollisionRequest< double > &request, CollisionResult< double > &result)
template<typename S >
FCL_EXPORT bool	initialize (MeshCollisionTraversalNodeRSS< S > &node, const BVHModel< RSS< S >> &model1, const Transform3< S > &tf1, const BVHModel< RSS< S >> &model2, const Transform3< S > &tf2, const CollisionRequest< S > &request, CollisionResult< S > &result)
	Initialize traversal node for collision between two meshes, specialized for RSS type. More...
template<typename S >
bool	initialize (MeshCollisionTraversalNodeRSS< S > &node, const BVHModel< RSS< S >> &model1, const Transform3< S > &tf1, const BVHModel< RSS< S >> &model2, const Transform3< S > &tf2, const CollisionRequest< S > &request, CollisionResult< S > &result)
	Initialize traversal node for collision between two meshes, specialized for RSS type. More...
template<typename BV >
bool	initialize (MeshConservativeAdvancementTraversalNode< BV > &node, BVHModel< BV > &model1, const Transform3< typename BV::S > &tf1, BVHModel< BV > &model2, const Transform3< typename BV::S > &tf2, typename BV::S w, bool use_refit, bool refit_bottomup)
	Initialize traversal node for conservative advancement computation between two meshes, given the current transforms. More...
template<typename BV >
FCL_EXPORT bool	initialize (MeshConservativeAdvancementTraversalNode< BV > &node, BVHModel< BV > &model1, const Transform3< typename BV::S > &tf1, BVHModel< BV > &model2, const Transform3< typename BV::S > &tf2, typename BV::S w=1, bool use_refit=false, bool refit_bottomup=false)
	Initialize traversal node for conservative advancement computation between two meshes, given the current transforms. More...
template bool	initialize (MeshConservativeAdvancementTraversalNodeOBBRSS< double > &node, const BVHModel< OBBRSS< double >> &model1, const Transform3< double > &tf1, const BVHModel< OBBRSS< double >> &model2, const Transform3< double > &tf2, double w)
template<typename S >
bool	initialize (MeshConservativeAdvancementTraversalNodeOBBRSS< S > &node, const BVHModel< OBBRSS< S >> &model1, const Transform3< S > &tf1, const BVHModel< OBBRSS< S >> &model2, const Transform3< S > &tf2, S w)
template<typename S >
FCL_EXPORT bool	initialize (MeshConservativeAdvancementTraversalNodeOBBRSS< S > &node, const BVHModel< OBBRSS< S >> &model1, const Transform3< S > &tf1, const BVHModel< OBBRSS< S >> &model2, const Transform3< S > &tf2, S w=1)
template bool	initialize (MeshConservativeAdvancementTraversalNodeRSS< double > &node, const BVHModel< RSS< double >> &model1, const Transform3< double > &tf1, const BVHModel< RSS< double >> &model2, const Transform3< double > &tf2, double w)
template<typename S >
bool	initialize (MeshConservativeAdvancementTraversalNodeRSS< S > &node, const BVHModel< RSS< S >> &model1, const Transform3< S > &tf1, const BVHModel< RSS< S >> &model2, const Transform3< S > &tf2, S w)
	Initialize traversal node for conservative advancement computation between two meshes, given the current transforms, specialized for RSS. More...
template<typename S >
FCL_EXPORT bool	initialize (MeshConservativeAdvancementTraversalNodeRSS< S > &node, const BVHModel< RSS< S >> &model1, const Transform3< S > &tf1, const BVHModel< RSS< S >> &model2, const Transform3< S > &tf2, S w=1)
	Initialize traversal node for conservative advancement computation between two meshes, given the current transforms, specialized for RSS. More...
template<typename BV >
FCL_EXPORT bool	initialize (MeshContinuousCollisionTraversalNode< BV > &node, const BVHModel< BV > &model1, const Transform3< typename BV::S > &tf1, const BVHModel< BV > &model2, const Transform3< typename BV::S > &tf2, const CollisionRequest< typename BV::S > &request)
	Initialize traversal node for continuous collision detection between two meshes. More...
template<typename BV >
bool	initialize (MeshContinuousCollisionTraversalNode< BV > &node, const BVHModel< BV > &model1, const Transform3< typename BV::S > &tf1, const BVHModel< BV > &model2, const Transform3< typename BV::S > &tf2, const CollisionRequest< typename BV::S > &request)
	Initialize traversal node for continuous collision detection between two meshes. More...
template<typename BV >
bool	initialize (MeshDistanceTraversalNode< BV > &node, BVHModel< BV > &model1, Transform3< typename BV::S > &tf1, BVHModel< BV > &model2, Transform3< typename BV::S > &tf2, const DistanceRequest< typename BV::S > &request, DistanceResult< typename BV::S > &result, bool use_refit, bool refit_bottomup)
	Initialize traversal node for distance computation between two meshes, given the current transforms. More...
template<typename BV >
FCL_EXPORT bool	initialize (MeshDistanceTraversalNode< BV > &node, BVHModel< BV > &model1, Transform3< typename BV::S > &tf1, BVHModel< BV > &model2, Transform3< typename BV::S > &tf2, const DistanceRequest< typename BV::S > &request, DistanceResult< typename BV::S > &result, bool use_refit=false, bool refit_bottomup=false)
	Initialize traversal node for distance computation between two meshes, given the current transforms. More...
template bool	initialize (MeshDistanceTraversalNodekIOS< double > &node, const BVHModel< kIOS< double >> &model1, const Transform3< double > &tf1, const BVHModel< kIOS< double >> &model2, const Transform3< double > &tf2, const DistanceRequest< double > &request, DistanceResult< double > &result)
template<typename S >
FCL_EXPORT bool	initialize (MeshDistanceTraversalNodekIOS< S > &node, const BVHModel< kIOS< S >> &model1, const Transform3< S > &tf1, const BVHModel< kIOS< S >> &model2, const Transform3< S > &tf2, const DistanceRequest< S > &request, DistanceResult< S > &result)
	Initialize traversal node for distance computation between two meshes, specialized for kIOS type. More...
template<typename S >
bool	initialize (MeshDistanceTraversalNodekIOS< S > &node, const BVHModel< kIOS< S >> &model1, const Transform3< S > &tf1, const BVHModel< kIOS< S >> &model2, const Transform3< S > &tf2, const DistanceRequest< S > &request, DistanceResult< S > &result)
	Initialize traversal node for distance computation between two meshes, specialized for kIOS type. More...
template bool	initialize (MeshDistanceTraversalNodeOBBRSS< double > &node, const BVHModel< OBBRSS< double >> &model1, const Transform3< double > &tf1, const BVHModel< OBBRSS< double >> &model2, const Transform3< double > &tf2, const DistanceRequest< double > &request, DistanceResult< double > &result)
template<typename S >
FCL_EXPORT bool	initialize (MeshDistanceTraversalNodeOBBRSS< S > &node, const BVHModel< OBBRSS< S >> &model1, const Transform3< S > &tf1, const BVHModel< OBBRSS< S >> &model2, const Transform3< S > &tf2, const DistanceRequest< S > &request, DistanceResult< S > &result)
	Initialize traversal node for distance computation between two meshes, specialized for OBBRSS type. More...
template<typename S >
bool	initialize (MeshDistanceTraversalNodeOBBRSS< S > &node, const BVHModel< OBBRSS< S >> &model1, const Transform3< S > &tf1, const BVHModel< OBBRSS< S >> &model2, const Transform3< S > &tf2, const DistanceRequest< S > &request, DistanceResult< S > &result)
	Initialize traversal node for distance computation between two meshes, specialized for OBBRSS type. More...
template bool	initialize (MeshDistanceTraversalNodeRSS< double > &node, const BVHModel< RSS< double >> &model1, const Transform3< double > &tf1, const BVHModel< RSS< double >> &model2, const Transform3< double > &tf2, const DistanceRequest< double > &request, DistanceResult< double > &result)
template<typename S >
FCL_EXPORT bool	initialize (MeshDistanceTraversalNodeRSS< S > &node, const BVHModel< RSS< S >> &model1, const Transform3< S > &tf1, const BVHModel< RSS< S >> &model2, const Transform3< S > &tf2, const DistanceRequest< S > &request, DistanceResult< S > &result)
	Initialize traversal node for distance computation between two meshes, specialized for RSS type. More...
template<typename S >
bool	initialize (MeshDistanceTraversalNodeRSS< S > &node, const BVHModel< RSS< S >> &model1, const Transform3< S > &tf1, const BVHModel< RSS< S >> &model2, const Transform3< S > &tf2, const DistanceRequest< S > &request, DistanceResult< S > &result)
	Initialize traversal node for distance computation between two meshes, specialized for RSS type. More...
template<typename BV , typename NarrowPhaseSolver >
bool	initialize (MeshOcTreeCollisionTraversalNode< BV, NarrowPhaseSolver > &node, const BVHModel< BV > &model1, const Transform3< typename BV::S > &tf1, const OcTree< typename BV::S > &model2, const Transform3< typename BV::S > &tf2, const OcTreeSolver< NarrowPhaseSolver > *otsolver, const CollisionRequest< typename BV::S > &request, CollisionResult< typename BV::S > &result)
	Initialize traversal node for collision between one mesh and one octree, given current object transform. More...
template<typename BV , typename NarrowPhaseSolver >
bool	initialize (MeshOcTreeDistanceTraversalNode< BV, NarrowPhaseSolver > &node, const BVHModel< BV > &model1, const Transform3< typename BV::S > &tf1, const OcTree< typename BV::S > &model2, const Transform3< typename BV::S > &tf2, const OcTreeSolver< NarrowPhaseSolver > *otsolver, const DistanceRequest< typename BV::S > &request, DistanceResult< typename BV::S > &result)
	Initialize traversal node for distance between one mesh and one octree, given current object transform. More...
template<typename BV , typename Shape , typename NarrowPhaseSolver >
bool	initialize (MeshShapeCollisionTraversalNode< BV, Shape, NarrowPhaseSolver > &node, BVHModel< BV > &model1, Transform3< typename BV::S > &tf1, const Shape &model2, const Transform3< typename BV::S > &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest< typename BV::S > &request, CollisionResult< typename BV::S > &result, bool use_refit, bool refit_bottomup)
	Initialize traversal node for collision between one mesh and one shape, given current object transform. More...
template<typename BV , typename Shape , typename NarrowPhaseSolver >
FCL_EXPORT bool	initialize (MeshShapeCollisionTraversalNode< BV, Shape, NarrowPhaseSolver > &node, BVHModel< BV > &model1, Transform3< typename BV::S > &tf1, const Shape &model2, const Transform3< typename BV::S > &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest< typename BV::S > &request, CollisionResult< typename BV::S > &result, bool use_refit=false, bool refit_bottomup=false)
	Initialize traversal node for collision between one mesh and one shape, given current object transform. More...
template<typename Shape , typename NarrowPhaseSolver >
FCL_EXPORT bool	initialize (MeshShapeCollisionTraversalNodekIOS< Shape, NarrowPhaseSolver > &node, const BVHModel< kIOS< typename Shape::S >> &model1, const Transform3< typename Shape::S > &tf1, const Shape &model2, const Transform3< typename Shape::S > &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest< typename Shape::S > &request, CollisionResult< typename Shape::S > &result)
	Initialize the traversal node for collision between one mesh and one shape, specialized for kIOS type. More...
template<typename Shape , typename NarrowPhaseSolver >
bool	initialize (MeshShapeCollisionTraversalNodekIOS< Shape, NarrowPhaseSolver > &node, const BVHModel< kIOS< typename Shape::S >> &model1, const Transform3< typename Shape::S > &tf1, const Shape &model2, const Transform3< typename Shape::S > &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest< typename Shape::S > &request, CollisionResult< typename Shape::S > &result)
	Initialize the traversal node for collision between one mesh and one shape, specialized for kIOS type. More...
template<typename Shape , typename NarrowPhaseSolver >
FCL_EXPORT bool	initialize (MeshShapeCollisionTraversalNodeOBB< Shape, NarrowPhaseSolver > &node, const BVHModel< OBB< typename Shape::S >> &model1, const Transform3< typename Shape::S > &tf1, const Shape &model2, const Transform3< typename Shape::S > &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest< typename Shape::S > &request, CollisionResult< typename Shape::S > &result)
	Initialize the traversal node for collision between one mesh and one shape, specialized for OBB type. More...
template<typename Shape , typename NarrowPhaseSolver >
bool	initialize (MeshShapeCollisionTraversalNodeOBB< Shape, NarrowPhaseSolver > &node, const BVHModel< OBB< typename Shape::S >> &model1, const Transform3< typename Shape::S > &tf1, const Shape &model2, const Transform3< typename Shape::S > &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest< typename Shape::S > &request, CollisionResult< typename Shape::S > &result)
	Initialize the traversal node for collision between one mesh and one shape, specialized for OBB type. More...
template<typename Shape , typename NarrowPhaseSolver >
FCL_EXPORT bool	initialize (MeshShapeCollisionTraversalNodeOBBRSS< Shape, NarrowPhaseSolver > &node, const BVHModel< OBBRSS< typename Shape::S >> &model1, const Transform3< typename Shape::S > &tf1, const Shape &model2, const Transform3< typename Shape::S > &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest< typename Shape::S > &request, CollisionResult< typename Shape::S > &result)
	Initialize the traversal node for collision between one mesh and one shape, specialized for OBBRSS type. More...
template<typename Shape , typename NarrowPhaseSolver >
bool	initialize (MeshShapeCollisionTraversalNodeOBBRSS< Shape, NarrowPhaseSolver > &node, const BVHModel< OBBRSS< typename Shape::S >> &model1, const Transform3< typename Shape::S > &tf1, const Shape &model2, const Transform3< typename Shape::S > &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest< typename Shape::S > &request, CollisionResult< typename Shape::S > &result)
	Initialize the traversal node for collision between one mesh and one shape, specialized for OBBRSS type. More...
template<typename Shape , typename NarrowPhaseSolver >
FCL_EXPORT bool	initialize (MeshShapeCollisionTraversalNodeRSS< Shape, NarrowPhaseSolver > &node, const BVHModel< RSS< typename Shape::S >> &model1, const Transform3< typename Shape::S > &tf1, const Shape &model2, const Transform3< typename Shape::S > &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest< typename Shape::S > &request, CollisionResult< typename Shape::S > &result)
	Initialize the traversal node for collision between one mesh and one shape, specialized for RSS type. More...
template<typename Shape , typename NarrowPhaseSolver >
bool	initialize (MeshShapeCollisionTraversalNodeRSS< Shape, NarrowPhaseSolver > &node, const BVHModel< RSS< typename Shape::S >> &model1, const Transform3< typename Shape::S > &tf1, const Shape &model2, const Transform3< typename Shape::S > &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest< typename Shape::S > &request, CollisionResult< typename Shape::S > &result)
	Initialize the traversal node for collision between one mesh and one shape, specialized for RSS type. More...
template<typename BV , typename Shape , typename NarrowPhaseSolver >
bool	initialize (MeshShapeConservativeAdvancementTraversalNode< BV, Shape, NarrowPhaseSolver > &node, BVHModel< BV > &model1, const Transform3< typename BV::S > &tf1, const Shape &model2, const Transform3< typename BV::S > &tf2, const NarrowPhaseSolver *nsolver, typename BV::S w, bool use_refit, bool refit_bottomup)
template<typename Shape , typename NarrowPhaseSolver >
bool	initialize (MeshShapeConservativeAdvancementTraversalNodeOBBRSS< Shape, NarrowPhaseSolver > &node, const BVHModel< OBBRSS< typename Shape::S >> &model1, const Transform3< typename Shape::S > &tf1, const Shape &model2, const Transform3< typename Shape::S > &tf2, const NarrowPhaseSolver *nsolver, typename Shape::S w)
template<typename Shape , typename NarrowPhaseSolver >
bool	initialize (MeshShapeConservativeAdvancementTraversalNodeRSS< Shape, NarrowPhaseSolver > &node, const BVHModel< RSS< typename Shape::S >> &model1, const Transform3< typename Shape::S > &tf1, const Shape &model2, const Transform3< typename Shape::S > &tf2, const NarrowPhaseSolver *nsolver, typename Shape::S w)
template<typename BV , typename Shape , typename NarrowPhaseSolver >
bool	initialize (MeshShapeDistanceTraversalNode< BV, Shape, NarrowPhaseSolver > &node, BVHModel< BV > &model1, Transform3< typename BV::S > &tf1, const Shape &model2, const Transform3< typename BV::S > &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest< typename BV::S > &request, DistanceResult< typename BV::S > &result, bool use_refit=false, bool refit_bottomup=false)
	Initialize traversal node for distance computation between one mesh and one shape, given the current transforms. More...
template<typename BV , typename Shape , typename NarrowPhaseSolver >
bool	initialize (MeshShapeDistanceTraversalNode< BV, Shape, NarrowPhaseSolver > &node, BVHModel< BV > &model1, Transform3< typename Shape::S > &tf1, const Shape &model2, const Transform3< typename BV::S > &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest< typename BV::S > &request, DistanceResult< typename BV::S > &result, bool use_refit, bool refit_bottomup)
template<typename Shape , typename NarrowPhaseSolver >
bool	initialize (MeshShapeDistanceTraversalNodekIOS< Shape, NarrowPhaseSolver > &node, const BVHModel< kIOS< typename Shape::S >> &model1, const Transform3< typename Shape::S > &tf1, const Shape &model2, const Transform3< typename Shape::S > &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest< typename Shape::S > &request, DistanceResult< typename Shape::S > &result)
	Initialize traversal node for distance computation between one mesh and one shape, specialized for kIOS type. More...
template<typename Shape , typename NarrowPhaseSolver >
bool	initialize (MeshShapeDistanceTraversalNodeOBBRSS< Shape, NarrowPhaseSolver > &node, const BVHModel< OBBRSS< typename Shape::S >> &model1, const Transform3< typename Shape::S > &tf1, const Shape &model2, const Transform3< typename Shape::S > &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest< typename Shape::S > &request, DistanceResult< typename Shape::S > &result)
	Initialize traversal node for distance computation between one mesh and one shape, specialized for OBBRSS type. More...
template<typename Shape , typename NarrowPhaseSolver >
bool	initialize (MeshShapeDistanceTraversalNodeRSS< Shape, NarrowPhaseSolver > &node, const BVHModel< RSS< typename Shape::S >> &model1, const Transform3< typename Shape::S > &tf1, const Shape &model2, const Transform3< typename Shape::S > &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest< typename Shape::S > &request, DistanceResult< typename Shape::S > &result)
template<typename NarrowPhaseSolver >
bool	initialize (OcTreeCollisionTraversalNode< NarrowPhaseSolver > &node, const OcTree< typename NarrowPhaseSolver::S > &model1, const Transform3< typename NarrowPhaseSolver::S > &tf1, const OcTree< typename NarrowPhaseSolver::S > &model2, const Transform3< typename NarrowPhaseSolver::S > &tf2, const OcTreeSolver< NarrowPhaseSolver > *otsolver, const CollisionRequest< typename NarrowPhaseSolver::S > &request, CollisionResult< typename NarrowPhaseSolver::S > &result)
	Initialize traversal node for collision between two octrees, given current object transform. More...
template<typename NarrowPhaseSolver >
bool	initialize (OcTreeDistanceTraversalNode< NarrowPhaseSolver > &node, const OcTree< typename NarrowPhaseSolver::S > &model1, const Transform3< typename NarrowPhaseSolver::S > &tf1, const OcTree< typename NarrowPhaseSolver::S > &model2, const Transform3< typename NarrowPhaseSolver::S > &tf2, const OcTreeSolver< NarrowPhaseSolver > *otsolver, const DistanceRequest< typename NarrowPhaseSolver::S > &request, DistanceResult< typename NarrowPhaseSolver::S > &result)
	Initialize traversal node for distance between two octrees, given current object transform. More...
template<typename BV , typename NarrowPhaseSolver >
bool	initialize (OcTreeMeshCollisionTraversalNode< BV, NarrowPhaseSolver > &node, const OcTree< typename BV::S > &model1, const Transform3< typename BV::S > &tf1, const BVHModel< BV > &model2, const Transform3< typename BV::S > &tf2, const OcTreeSolver< NarrowPhaseSolver > *otsolver, const CollisionRequest< typename BV::S > &request, CollisionResult< typename BV::S > &result)
	Initialize traversal node for collision between one octree and one mesh, given current object transform. More...
template<typename BV , typename NarrowPhaseSolver >
bool	initialize (OcTreeMeshDistanceTraversalNode< BV, NarrowPhaseSolver > &node, const OcTree< typename BV::S > &model1, const Transform3< typename BV::S > &tf1, const BVHModel< BV > &model2, const Transform3< typename BV::S > &tf2, const OcTreeSolver< NarrowPhaseSolver > *otsolver, const DistanceRequest< typename BV::S > &request, DistanceResult< typename BV::S > &result)
	Initialize traversal node for collision between one octree and one mesh, given current object transform. More...
template<typename Shape , typename NarrowPhaseSolver >
bool	initialize (OcTreeShapeCollisionTraversalNode< Shape, NarrowPhaseSolver > &node, const OcTree< typename Shape::S > &model1, const Transform3< typename Shape::S > &tf1, const Shape &model2, const Transform3< typename Shape::S > &tf2, const OcTreeSolver< NarrowPhaseSolver > *otsolver, const CollisionRequest< typename Shape::S > &request, CollisionResult< typename Shape::S > &result)
	Initialize traversal node for collision between one octree and one shape, given current object transform. More...
template<typename Shape , typename NarrowPhaseSolver >
bool	initialize (OcTreeShapeDistanceTraversalNode< Shape, NarrowPhaseSolver > &node, const OcTree< typename Shape::S > &model1, const Transform3< typename Shape::S > &tf1, const Shape &model2, const Transform3< typename Shape::S > &tf2, const OcTreeSolver< NarrowPhaseSolver > *otsolver, const DistanceRequest< typename Shape::S > &request, DistanceResult< typename Shape::S > &result)
	Initialize traversal node for distance between one octree and one shape, given current object transform. More...
template<typename Shape1 , typename Shape2 , typename NarrowPhaseSolver >
bool	initialize (ShapeCollisionTraversalNode< Shape1, Shape2, NarrowPhaseSolver > &node, const Shape1 &shape1, const Transform3< typename Shape1::S > &tf1, const Shape2 &shape2, const Transform3< typename Shape1::S > &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest< typename Shape1::S > &request, CollisionResult< typename Shape1::S > &result)
	Initialize traversal node for collision between two geometric shapes, given current object transform. More...
template<typename Shape1 , typename Shape2 , typename NarrowPhaseSolver >
bool	initialize (ShapeConservativeAdvancementTraversalNode< Shape1, Shape2, NarrowPhaseSolver > &node, const Shape1 &shape1, const Transform3< typename Shape1::S > &tf1, const Shape2 &shape2, const Transform3< typename Shape1::S > &tf2, const NarrowPhaseSolver *nsolver)
template<typename Shape1 , typename Shape2 , typename NarrowPhaseSolver >
bool	initialize (ShapeDistanceTraversalNode< Shape1, Shape2, NarrowPhaseSolver > &node, const Shape1 &shape1, const Transform3< typename Shape1::S > &tf1, const Shape2 &shape2, const Transform3< typename Shape1::S > &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest< typename Shape1::S > &request, DistanceResult< typename Shape1::S > &result)
	Initialize traversal node for distance between two geometric shapes. More...
template<typename Shape , typename BV , typename NarrowPhaseSolver >
FCL_EXPORT bool	initialize (ShapeMeshCollisionTraversalNode< Shape, BV, NarrowPhaseSolver > &node, const Shape &model1, const Transform3< typename BV::S > &tf1, BVHModel< BV > &model2, Transform3< typename BV::S > &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest< typename BV::S > &request, CollisionResult< typename BV::S > &result, bool use_refit=false, bool refit_bottomup=false)
	Initialize traversal node for collision between one mesh and one shape, given current object transform. More...
template<typename Shape , typename NarrowPhaseSolver >
FCL_EXPORT bool	initialize (ShapeMeshCollisionTraversalNodekIOS< Shape, NarrowPhaseSolver > &node, const Shape &model1, const Transform3< typename Shape::S > &tf1, const BVHModel< kIOS< typename Shape::S >> &model2, const Transform3< typename Shape::S > &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest< typename Shape::S > &request, CollisionResult< typename Shape::S > &result)
	Initialize the traversal node for collision between one mesh and one shape, specialized for kIOS type. More...
template<typename Shape , typename NarrowPhaseSolver >
FCL_EXPORT bool	initialize (ShapeMeshCollisionTraversalNodeOBB< Shape, NarrowPhaseSolver > &node, const Shape &model1, const Transform3< typename Shape::S > &tf1, const BVHModel< OBB< typename Shape::S >> &model2, const Transform3< typename Shape::S > &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest< typename Shape::S > &request, CollisionResult< typename Shape::S > &result)
	Initialize the traversal node for collision between one mesh and one shape, specialized for OBB type. More...
template<typename Shape , typename NarrowPhaseSolver >
FCL_EXPORT bool	initialize (ShapeMeshCollisionTraversalNodeOBBRSS< Shape, NarrowPhaseSolver > &node, const Shape &model1, const Transform3< typename Shape::S > &tf1, const BVHModel< OBBRSS< typename Shape::S >> &model2, const Transform3< typename Shape::S > &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest< typename Shape::S > &request, CollisionResult< typename Shape::S > &result)
	Initialize the traversal node for collision between one mesh and one shape, specialized for OBBRSS type. More...
template<typename Shape , typename NarrowPhaseSolver >
FCL_EXPORT bool	initialize (ShapeMeshCollisionTraversalNodeRSS< Shape, NarrowPhaseSolver > &node, const Shape &model1, const Transform3< typename Shape::S > &tf1, const BVHModel< RSS< typename Shape::S >> &model2, const Transform3< typename Shape::S > &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest< typename Shape::S > &request, CollisionResult< typename Shape::S > &result)
	Initialize the traversal node for collision between one mesh and one shape, specialized for RSS type. More...
template<typename Shape , typename BV , typename NarrowPhaseSolver >
bool	initialize (ShapeMeshConservativeAdvancementTraversalNode< Shape, BV, NarrowPhaseSolver > &node, const Shape &model1, const Transform3< typename BV::S > &tf1, BVHModel< BV > &model2, const Transform3< typename BV::S > &tf2, const NarrowPhaseSolver *nsolver, typename BV::S w, bool use_refit, bool refit_bottomup)
template<typename Shape , typename NarrowPhaseSolver >
bool	initialize (ShapeMeshConservativeAdvancementTraversalNodeOBBRSS< Shape, NarrowPhaseSolver > &node, const Shape &model1, const Transform3< typename Shape::S > &tf1, const BVHModel< OBBRSS< typename Shape::S >> &model2, const Transform3< typename Shape::S > &tf2, const NarrowPhaseSolver *nsolver, typename Shape::S w)
template<typename Shape , typename NarrowPhaseSolver >
bool	initialize (ShapeMeshConservativeAdvancementTraversalNodeRSS< Shape, NarrowPhaseSolver > &node, const Shape &model1, const Transform3< typename Shape::S > &tf1, const BVHModel< RSS< typename Shape::S >> &model2, const Transform3< typename Shape::S > &tf2, const NarrowPhaseSolver *nsolver, typename Shape::S w)
template<typename Shape , typename BV , typename NarrowPhaseSolver >
FCL_EXPORT bool	initialize (ShapeMeshDistanceTraversalNode< Shape, BV, NarrowPhaseSolver > &node, const Shape &model1, const Transform3< typename BV::S > &tf1, BVHModel< BV > &model2, Transform3< typename BV::S > &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest< typename BV::S > &request, DistanceResult< typename BV::S > &result, bool use_refit, bool refit_bottomup)
	Initialize traversal node for distance computation between one shape and one mesh, given the current transforms. More...
template<typename Shape , typename BV , typename NarrowPhaseSolver >
bool	initialize (ShapeMeshDistanceTraversalNode< Shape, BV, NarrowPhaseSolver > &node, const Shape &model1, const Transform3< typename BV::S > &tf1, BVHModel< BV > &model2, Transform3< typename BV::S > &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest< typename BV::S > &request, DistanceResult< typename BV::S > &result, bool use_refit=false, bool refit_bottomup=false)
	Initialize traversal node for distance computation between one shape and one mesh, given the current transforms. More...
template<typename Shape , typename NarrowPhaseSolver >
bool	initialize (ShapeMeshDistanceTraversalNodekIOS< Shape, NarrowPhaseSolver > &node, const Shape &model1, const Transform3< typename Shape::S > &tf1, const BVHModel< kIOS< typename Shape::S >> &model2, const Transform3< typename Shape::S > &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest< typename Shape::S > &request, DistanceResult< typename Shape::S > &result)
	Initialize traversal node for distance computation between one shape and one mesh, specialized for kIOS type. More...
template<typename Shape , typename NarrowPhaseSolver >
FCL_EXPORT bool	initialize (ShapeMeshDistanceTraversalNodekIOS< Shape, NarrowPhaseSolver > &node, const Shape &model1, const Transform3< typename Shape::S > &tf1, const BVHModel< kIOS< typename Shape::S >> &model2, const Transform3< typename Shape::S > &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest< typename Shape::S > &request, DistanceResult< typename Shape::S > &result)
	Initialize traversal node for distance computation between one shape and one mesh, specialized for kIOS type. More...
template<typename Shape , typename NarrowPhaseSolver >
bool	initialize (ShapeMeshDistanceTraversalNodeOBBRSS< Shape, NarrowPhaseSolver > &node, const Shape &model1, const Transform3< typename Shape::S > &tf1, const BVHModel< OBBRSS< typename Shape::S >> &model2, const Transform3< typename Shape::S > &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest< typename Shape::S > &request, DistanceResult< typename Shape::S > &result)
	Initialize traversal node for distance computation between one shape and one mesh, specialized for OBBRSS type. More...
template<typename Shape , typename NarrowPhaseSolver >
FCL_EXPORT bool	initialize (ShapeMeshDistanceTraversalNodeOBBRSS< Shape, NarrowPhaseSolver > &node, const Shape &model1, const Transform3< typename Shape::S > &tf1, const BVHModel< OBBRSS< typename Shape::S >> &model2, const Transform3< typename Shape::S > &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest< typename Shape::S > &request, DistanceResult< typename Shape::S > &result)
	Initialize traversal node for distance computation between one shape and one mesh, specialized for OBBRSS type. More...
template<typename Shape , typename NarrowPhaseSolver >
bool	initialize (ShapeMeshDistanceTraversalNodeRSS< Shape, NarrowPhaseSolver > &node, const Shape &model1, const Transform3< typename Shape::S > &tf1, const BVHModel< RSS< typename Shape::S >> &model2, const Transform3< typename Shape::S > &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest< typename Shape::S > &request, DistanceResult< typename Shape::S > &result)
	Initialize traversal node for distance computation between one shape and one mesh, specialized for RSS type. More...
template<typename Shape , typename NarrowPhaseSolver >
FCL_EXPORT bool	initialize (ShapeMeshDistanceTraversalNodeRSS< Shape, NarrowPhaseSolver > &node, const Shape &model1, const Transform3< typename Shape::S > &tf1, const BVHModel< RSS< typename Shape::S >> &model2, const Transform3< typename Shape::S > &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest< typename Shape::S > &request, DistanceResult< typename Shape::S > &result)
	Initialize traversal node for distance computation between one shape and one mesh, specialized for RSS type. More...
template<typename Shape , typename NarrowPhaseSolver >
bool	initialize (ShapeOcTreeCollisionTraversalNode< Shape, NarrowPhaseSolver > &node, const Shape &model1, const Transform3< typename Shape::S > &tf1, const OcTree< typename Shape::S > &model2, const Transform3< typename Shape::S > &tf2, const OcTreeSolver< NarrowPhaseSolver > *otsolver, const CollisionRequest< typename Shape::S > &request, CollisionResult< typename Shape::S > &result)
	Initialize traversal node for collision between one shape and one octree, given current object transform. More...
template<typename Shape , typename NarrowPhaseSolver >
bool	initialize (ShapeOcTreeDistanceTraversalNode< Shape, NarrowPhaseSolver > &node, const Shape &model1, const Transform3< typename Shape::S > &tf1, const OcTree< typename Shape::S > &model2, const Transform3< typename Shape::S > &tf2, const OcTreeSolver< NarrowPhaseSolver > *otsolver, const DistanceRequest< typename Shape::S > &request, DistanceResult< typename Shape::S > &result)
	Initialize traversal node for distance between one shape and one octree, given current object transform. More...
template int	intersectRectQuad2 (double h[2], double p[8], double ret[16])
template<typename S >
FCL_EXPORT int	intersectRectQuad2 (S h[2], S p[8], S ret[16])
template<typename S >
int	intersectRectQuad2 (S h[2], S p[8], S ret[16])
template<typename T >
bool	IsElementInSet (const std::unordered_set< T * > &S, const T *element)
template void	lineClosestApproach (const Vector3< double > &pa, const Vector3< double > &ua, const Vector3< double > &pb, const Vector3< double > &ub, double *alpha, double *beta)
template<typename S >
FCL_EXPORT void	lineClosestApproach (const Vector3< S > &pa, const Vector3< S > &ua, const Vector3< S > &pb, const Vector3< S > &ub, S *alpha, S *beta)
template<typename S >
void	lineClosestApproach (const Vector3< S > &pa, const Vector3< S > &ua, const Vector3< S > &pb, const Vector3< S > &ub, S *alpha, S *beta)
template void	lineSegmentPointClosestToPoint (const Vector3< double > &p, const Vector3< double > &s1, const Vector3< double > &s2, Vector3< double > &sp)
template<typename S >
FCL_EXPORT void	lineSegmentPointClosestToPoint (const Vector3< S > &p, const Vector3< S > &s1, const Vector3< S > &s2, Vector3< S > &sp)
template<typename S >
void	lineSegmentPointClosestToPoint (const Vector3< S > &p, const Vector3< S > &s1, const Vector3< S > &s2, Vector3< S > &sp)
template<typename T >
void	MapFeature1ToFeature2 (const ccd_list_t *feature1_list, const ccd_list_t *feature2_list, std::function< bool(const T *, const T *)> cmp_feature, std::unordered_set< T * > *feature1, std::unordered_set< T * > *feature2, std::unordered_map< T *, T * > *map_feature1_to_feature2)
template<typename S >
FCL_EXPORT S	maximumDistance_mesh (const Vector3< S > *const ps, const Vector3< S > *const ps2, Triangle *ts, unsigned int *indices, int n, const Vector3< S > &query)
template double	maximumDistance_mesh (const Vector3d *const ps, const Vector3d *const ps2, Triangle *ts, unsigned int *indices, int n, const Vector3d &query)
template<typename S >
FCL_EXPORT S	maximumDistance_pointcloud (const Vector3< S > *const ps, const Vector3< S > *const ps2, unsigned int *indices, int n, const Vector3< S > &query)
template double	maximumDistance_pointcloud (const Vector3d *const ps, const Vector3d *const ps2, unsigned int *indices, int n, const Vector3d &query)
template<typename BV >
FCL_EXPORT void	meshCollisionOrientedNodeLeafTesting (int b1, int b2, const BVHModel< BV > *model1, const BVHModel< BV > *model2, Vector3< typename BV::S > *vertices1, Vector3< typename BV::S > *vertices2, Triangle *tri_indices1, Triangle *tri_indices2, const Matrix3< typename BV::S > &R, const Vector3< typename BV::S > &T, const Transform3< typename BV::S > &tf1, const Transform3< typename BV::S > &tf2, bool enable_statistics, typename BV::S cost_density, int &num_leaf_tests, const CollisionRequest< typename BV::S > &request, CollisionResult< typename BV::S > &result)
template<typename BV >
void	meshCollisionOrientedNodeLeafTesting (int b1, int b2, const BVHModel< BV > *model1, const BVHModel< BV > *model2, Vector3< typename BV::S > *vertices1, Vector3< typename BV::S > *vertices2, Triangle *tri_indices1, Triangle *tri_indices2, const Matrix3< typename BV::S > &R, const Vector3< typename BV::S > &T, const Transform3< typename BV::S > &tf1, const Transform3< typename BV::S > &tf2, bool enable_statistics, typename BV::S cost_density, int &num_leaf_tests, const CollisionRequest< typename BV::S > &request, CollisionResult< typename BV::S > &result)
template<typename BV >
FCL_EXPORT void	meshCollisionOrientedNodeLeafTesting (int b1, int b2, const BVHModel< BV > *model1, const BVHModel< BV > *model2, Vector3< typename BV::S > *vertices1, Vector3< typename BV::S > *vertices2, Triangle *tri_indices1, Triangle *tri_indices2, const Transform3< typename BV::S > &tf, const Transform3< typename BV::S > &tf1, const Transform3< typename BV::S > &tf2, bool enable_statistics, typename BV::S cost_density, int &num_leaf_tests, const CollisionRequest< typename BV::S > &request, CollisionResult< typename BV::S > &result)
template<typename BV >
void	meshCollisionOrientedNodeLeafTesting (int b1, int b2, const BVHModel< BV > *model1, const BVHModel< BV > *model2, Vector3< typename BV::S > *vertices1, Vector3< typename BV::S > *vertices2, Triangle *tri_indices1, Triangle *tri_indices2, const Transform3< typename BV::S > &tf, const Transform3< typename BV::S > &tf1, const Transform3< typename BV::S > &tf2, bool enable_statistics, typename BV::S cost_density, int &num_leaf_tests, const CollisionRequest< typename BV::S > &request, CollisionResult< typename BV::S > &result)
template<typename BV >
FCL_EXPORT bool	meshConservativeAdvancementOrientedNodeCanStop (typename BV::S c, typename BV::S min_distance, typename BV::S abs_err, typename BV::S rel_err, typename BV::S w, const BVHModel< BV > *model1, const BVHModel< BV > *model2, const MotionBase< typename BV::S > *motion1, const MotionBase< typename BV::S > *motion2, std::vector< ConservativeAdvancementStackData< typename BV::S >> &stack, typename BV::S &delta_t)
template<typename BV >
bool	meshConservativeAdvancementOrientedNodeCanStop (typename BV::S c, typename BV::S min_distance, typename BV::S abs_err, typename BV::S rel_err, typename BV::S w, const BVHModel< BV > *model1, const BVHModel< BV > *model2, const MotionBase< typename BV::S > *motion1, const MotionBase< typename BV::S > *motion2, std::vector< ConservativeAdvancementStackData< typename BV::S >> &stack, typename BV::S &delta_t)
template<typename BV >
FCL_EXPORT void	meshConservativeAdvancementOrientedNodeLeafTesting (int b1, int b2, const BVHModel< BV > *model1, const BVHModel< BV > *model2, const Triangle *tri_indices1, const Triangle *tri_indices2, const Vector3< typename BV::S > *vertices1, const Vector3< typename BV::S > *vertices2, const Matrix3< typename BV::S > &R, const Vector3< typename BV::S > &T, const MotionBase< typename BV::S > *motion1, const MotionBase< typename BV::S > *motion2, bool enable_statistics, typename BV::S &min_distance, Vector3< typename BV::S > &p1, Vector3< typename BV::S > &p2, int &last_tri_id1, int &last_tri_id2, typename BV::S &delta_t, int &num_leaf_tests)
template<typename BV >
void	meshConservativeAdvancementOrientedNodeLeafTesting (int b1, int b2, const BVHModel< BV > *model1, const BVHModel< BV > *model2, const Triangle *tri_indices1, const Triangle *tri_indices2, const Vector3< typename BV::S > *vertices1, const Vector3< typename BV::S > *vertices2, const Matrix3< typename BV::S > &R, const Vector3< typename BV::S > &T, const MotionBase< typename BV::S > *motion1, const MotionBase< typename BV::S > *motion2, bool enable_statistics, typename BV::S &min_distance, Vector3< typename BV::S > &p1, Vector3< typename BV::S > &p2, int &last_tri_id1, int &last_tri_id2, typename BV::S &delta_t, int &num_leaf_tests)
template<typename BV >
FCL_EXPORT bool	meshConservativeAdvancementTraversalNodeCanStop (typename BV::S c, typename BV::S min_distance, typename BV::S abs_err, typename BV::S rel_err, typename BV::S w, const BVHModel< BV > *model1, const BVHModel< BV > *model2, const MotionBase< typename BV::S > *motion1, const MotionBase< typename BV::S > *motion2, std::vector< ConservativeAdvancementStackData< typename BV::S >> &stack, typename BV::S &delta_t)
template<typename BV >
bool	meshConservativeAdvancementTraversalNodeCanStop (typename BV::S c, typename BV::S min_distance, typename BV::S abs_err, typename BV::S rel_err, typename BV::S w, const BVHModel< BV > *model1, const BVHModel< BV > *model2, const MotionBase< typename BV::S > *motion1, const MotionBase< typename BV::S > *motion2, std::vector< ConservativeAdvancementStackData< typename BV::S >> &stack, typename BV::S &delta_t)
template<typename BV >
FCL_DEPRECATED_EXPORT void	meshDistanceOrientedNodeLeafTesting (int b1, int b2, const BVHModel< BV > *model1, const BVHModel< BV > *model2, Vector3< typename BV::S > *vertices1, Vector3< typename BV::S > *vertices2, Triangle *tri_indices1, Triangle *tri_indices2, const Matrix3< typename BV::S > &R, const Vector3< typename BV::S > &T, bool enable_statistics, int &num_leaf_tests, const DistanceRequest< typename BV::S > &request, DistanceResult< typename BV::S > &result)
template<typename BV >
void	meshDistanceOrientedNodeLeafTesting (int b1, int b2, const BVHModel< BV > *model1, const BVHModel< BV > *model2, Vector3< typename BV::S > *vertices1, Vector3< typename BV::S > *vertices2, Triangle *tri_indices1, Triangle *tri_indices2, const Matrix3< typename BV::S > &R, const Vector3< typename BV::S > &T, bool enable_statistics, int &num_leaf_tests, const DistanceRequest< typename BV::S > &request, DistanceResult< typename BV::S > &result)
template<typename BV >
FCL_EXPORT void	meshDistanceOrientedNodeLeafTesting (int b1, int b2, const BVHModel< BV > *model1, const BVHModel< BV > *model2, Vector3< typename BV::S > *vertices1, Vector3< typename BV::S > *vertices2, Triangle *tri_indices1, Triangle *tri_indices2, const Transform3< typename BV::S > &tf, bool enable_statistics, int &num_leaf_tests, const DistanceRequest< typename BV::S > &request, DistanceResult< typename BV::S > &result)
template<typename BV >
void	meshDistanceOrientedNodeLeafTesting (int b1, int b2, const BVHModel< BV > *model1, const BVHModel< BV > *model2, Vector3< typename BV::S > *vertices1, Vector3< typename BV::S > *vertices2, Triangle *tri_indices1, Triangle *tri_indices2, const Transform3< typename BV::S > &tf, bool enable_statistics, int &num_leaf_tests, const DistanceRequest< typename BV::S > &request, DistanceResult< typename BV::S > &result)
template<typename BV , typename Shape , typename NarrowPhaseSolver >
FCL_EXPORT void	meshShapeCollisionOrientedNodeLeafTesting (int b1, int b2, const BVHModel< BV > *model1, const Shape &model2, Vector3< typename BV::S > *vertices, Triangle *tri_indices, const Transform3< typename BV::S > &tf1, const Transform3< typename BV::S > &tf2, const NarrowPhaseSolver *nsolver, bool enable_statistics, typename BV::S cost_density, int &num_leaf_tests, const CollisionRequest< typename BV::S > &request, CollisionResult< typename BV::S > &result)
template<typename BV , typename Shape , typename NarrowPhaseSolver >
void	meshShapeCollisionOrientedNodeLeafTesting (int b1, int b2, const BVHModel< BV > *model1, const Shape &model2, Vector3< typename BV::S > *vertices, Triangle *tri_indices, const Transform3< typename BV::S > &tf1, const Transform3< typename BV::S > &tf2, const NarrowPhaseSolver *nsolver, bool enable_statistics, typename BV::S cost_density, int &num_leaf_tests, const CollisionRequest< typename BV::S > &request, CollisionResult< typename BV::S > &result)
template<typename BV , typename Shape >
bool	meshShapeConservativeAdvancementOrientedNodeCanStop (typename BV::S c, typename BV::S min_distance, typename BV::S abs_err, typename BV::S rel_err, typename BV::S w, const BVHModel< BV > *model1, const Shape &model2, const BV &model2_bv, const MotionBase< typename BV::S > *motion1, const MotionBase< typename BV::S > *motion2, std::vector< ConservativeAdvancementStackData< typename BV::S >> &stack, typename BV::S &delta_t)
template<typename BV , typename Shape , typename NarrowPhaseSolver >
void	meshShapeConservativeAdvancementOrientedNodeLeafTesting (int b1, int, const BVHModel< BV > *model1, const Shape &model2, const BV &model2_bv, Vector3< typename BV::S > *vertices, Triangle *tri_indices, const Transform3< typename BV::S > &tf1, const Transform3< typename BV::S > &tf2, const MotionBase< typename BV::S > *motion1, const MotionBase< typename BV::S > *motion2, const NarrowPhaseSolver *nsolver, bool enable_statistics, typename BV::S &min_distance, Vector3< typename BV::S > &p1, Vector3< typename BV::S > &p2, int &last_tri_id, typename BV::S &delta_t, int &num_leaf_tests)
template<typename BV , typename Shape , typename NarrowPhaseSolver >
void	meshShapeDistanceOrientedNodeLeafTesting (int b1, int, const BVHModel< BV > *model1, const Shape &model2, Vector3< typename BV::S > *vertices, Triangle *tri_indices, const Transform3< typename BV::S > &tf1, const Transform3< typename BV::S > &tf2, const NarrowPhaseSolver *nsolver, bool enable_statistics, int &num_leaf_tests, const DistanceRequest< typename BV::S > &, DistanceResult< typename BV::S > &result)
template<typename S >
bool	nearestPointInBox (const Vector3< S > &size, const Vector3< S > &p_BQ, Vector3< S > *p_BN_ptr)
template<typename S >
bool	nearestPointInCylinder (const S &height, const S &radius, const Vector3< S > &p_CQ, Vector3< S > *p_CN_ptr)
template<typename BV >
bool	nodeBaseLess (NodeBase< BV > *a, NodeBase< BV > *b, int d)
	Compare two nodes accoording to the d-th dimension of node center. More...
template<typename OrientMeshShapeCollisionTraveralNode , typename BV , typename Shape , typename NarrowPhaseSolver >
std::size_t	orientedBVHShapeCollide (const CollisionGeometry< typename BV::S > *o1, const Transform3< typename BV::S > &tf1, const CollisionGeometry< typename BV::S > *o2, const Transform3< typename BV::S > &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest< typename BV::S > &request, CollisionResult< typename BV::S > &result)
template<typename OrientedMeshShapeDistanceTraversalNode , typename BV , typename Shape , typename NarrowPhaseSolver >
Shape::S	orientedBVHShapeDistance (const CollisionGeometry< typename Shape::S > *o1, const Transform3< typename Shape::S > &tf1, const CollisionGeometry< typename Shape::S > *o2, const Transform3< typename Shape::S > &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest< typename Shape::S > &request, DistanceResult< typename Shape::S > &result)
template<typename OrientedMeshCollisionTraversalNode , typename BV >
std::size_t	orientedMeshCollide (const CollisionGeometry< typename BV::S > *o1, const Transform3< typename BV::S > &tf1, const CollisionGeometry< typename BV::S > *o2, const Transform3< typename BV::S > &tf2, const CollisionRequest< typename BV::S > &request, CollisionResult< typename BV::S > &result)
template<typename OrientedMeshDistanceTraversalNode , typename BV >
BV::S	orientedMeshDistance (const CollisionGeometry< typename BV::S > *o1, const Transform3< typename BV::S > &tf1, const CollisionGeometry< typename BV::S > *o2, const Transform3< typename BV::S > &tf2, const DistanceRequest< typename BV::S > &request, DistanceResult< typename BV::S > &result)
template<typename S >
bool	overlap (S a1, S a2, S b1, S b2)
	returns 1 if the intervals overlap, and 0 otherwise More...
template bool	planeHalfspaceIntersect (const Plane< double > &s1, const Transform3< double > &tf1, const Halfspace< double > &s2, const Transform3< double > &tf2, Plane< double > &pl, Vector3< double > &p, Vector3< double > &d, double &penetration_depth, int &ret)
template<typename S >
FCL_EXPORT bool	planeHalfspaceIntersect (const Plane< S > &s1, const Transform3< S > &tf1, const Halfspace< S > &s2, const Transform3< S > &tf2, Plane< S > &pl, Vector3< S > &p, Vector3< S > &d, S &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...
template<typename S >
bool	planeHalfspaceIntersect (const Plane< S > &s1, const Transform3< S > &tf1, const Halfspace< S > &s2, const Transform3< S > &tf2, Plane< S > &pl, Vector3< S > &p, Vector3< S > &d, S &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...
template bool	planeIntersect (const Plane< double > &s1, const Transform3< double > &tf1, const Plane< double > &s2, const Transform3< double > &tf2, std::vector< ContactPoint< double >> *contacts)
template<typename S >
bool	planeIntersect (const Plane< S > &s1, const Transform3< S > &tf1, const Plane< S > &s2, const Transform3< S > &tf2, std::vector< ContactPoint< S >> *)
template<typename S >
FCL_EXPORT bool	planeIntersect (const Plane< S > &s1, const Transform3< S > &tf1, const Plane< S > &s2, const Transform3< S > &tf2, std::vector< ContactPoint< S >> *contacts)
template<>
FCL_EXPORT double	planeIntersectTolerance ()
template<typename S >
FCL_EXPORT S	planeIntersectTolerance ()
template<typename S >
S	planeIntersectTolerance ()
template bool	planeTriangleIntersect (const Plane< double > &s1, const Transform3< double > &tf1, const Vector3< double > &P1, const Vector3< double > &P2, const Vector3< double > &P3, const Transform3< double > &tf2, Vector3< double > *contact_points, double *penetration_depth, Vector3< double > *normal)
template<typename S >
FCL_EXPORT bool	planeTriangleIntersect (const Plane< S > &s1, const Transform3< S > &tf1, const Vector3< S > &P1, const Vector3< S > &P2, const Vector3< S > &P3, const Transform3< S > &tf2, Vector3< S > *contact_points, S *penetration_depth, Vector3< S > *normal)
template<typename S >
bool	planeTriangleIntersect (const Plane< S > &s1, const Transform3< S > &tf1, const Vector3< S > &P1, const Vector3< S > &P2, const Vector3< S > &P3, const Transform3< S > &tf2, Vector3< S > *contact_points, S *penetration_depth, Vector3< S > *normal)
template bool	projectInTriangle (const Vector3< double > &p1, const Vector3< double > &p2, const Vector3< double > &p3, const Vector3< double > &normal, const Vector3< double > &p)
template<typename S >
FCL_EXPORT bool	projectInTriangle (const Vector3< S > &p1, const Vector3< S > &p2, const Vector3< S > &p3, const Vector3< S > &normal, const Vector3< S > &p)
	Whether a point's projection is in a triangle. More...
template<typename S >
bool	projectInTriangle (const Vector3< S > &p1, const Vector3< S > &p2, const Vector3< S > &p3, const Vector3< S > &normal, const Vector3< S > &p)
	Whether a point's projection is in a triangle. More...
template void	propagateBVHFrontListCollisionRecurse (CollisionTraversalNodeBase< double > *node, BVHFrontList *front_list)
template<typename S >
FCL_EXPORT void	propagateBVHFrontListCollisionRecurse (CollisionTraversalNodeBase< S > *node, BVHFrontList *front_list)
	Recurse function for front list propagation. More...
template double	segmentSqrDistance (const Vector3< double > &from, const Vector3< double > &to, const Vector3< double > &p, Vector3< double > &nearest)
template<typename S >
FCL_EXPORT S	segmentSqrDistance (const Vector3< S > &from, const Vector3< S > &to, const Vector3< S > &p, Vector3< S > &nearest)
	the minimum distance from a point to a line More...
template<typename S >
S	segmentSqrDistance (const Vector3< S > &from, const Vector3< S > &to, const Vector3< S > &p, Vector3< S > &nearest)
	the minimum distance from a point to a line More...
template<typename BV >
size_t	select (const BV &query, const NodeBase< BV > &node1, const NodeBase< BV > &node2)
	select from node1 and node2 which is close to a given query bounding volume. 0 for node1 and 1 for node2 More...
template<typename BV >
size_t	select (const NodeBase< BV > &query, const NodeBase< BV > &node1, const NodeBase< BV > &node2)
	select from node1 and node2 which is close to a given query. 0 for node1 and 1 for node2 More...
template void	selfCollide (CollisionTraversalNodeBase< double > *node, BVHFrontList *front_list)
template<typename S >
void	selfCollide (CollisionTraversalNodeBase< S > *node, BVHFrontList *front_list)
	self collision on collision traversal node; can use front list to accelerate More...
template<typename S >
FCL_EXPORT void	selfCollide (CollisionTraversalNodeBase< S > *node, BVHFrontList *front_list=nullptr)
	self collision on collision traversal node; can use front list to accelerate More...
template void	selfCollisionRecurse (CollisionTraversalNodeBase< double > *node, int b, BVHFrontList *front_list)
template<typename S >
FCL_EXPORT void	selfCollisionRecurse (CollisionTraversalNodeBase< S > *node, int b, BVHFrontList *front_list)
	Recurse function for self collision. Make sure node is set correctly so that the first and second tree are the same. More...
template<typename S >
void	SetUpBoxToBox (const Transform3< S > &X_WF, void **o1, void **o2, ccd_t *ccd, fcl::Transform3< S > *X_FB1, fcl::Transform3< S > *X_FB2)
template<typename BV , typename OrientedNode >
bool	setupMeshCollisionOrientedNode (OrientedNode &node, const BVHModel< BV > &model1, const Transform3< typename BV::S > &tf1, const BVHModel< BV > &model2, const Transform3< typename BV::S > &tf2, const CollisionRequest< typename BV::S > &request, CollisionResult< typename BV::S > &result)
template<typename BV , typename OrientedDistanceNode >
bool	setupMeshConservativeAdvancementOrientedDistanceNode (OrientedDistanceNode &node, const BVHModel< BV > &model1, const Transform3< typename BV::S > &tf1, const BVHModel< BV > &model2, const Transform3< typename BV::S > &tf2, typename BV::S w)
template<typename BV , typename OrientedNode >
static bool	setupMeshDistanceOrientedNode (OrientedNode &node, const BVHModel< BV > &model1, const Transform3< typename BV::S > &tf1, const BVHModel< BV > &model2, const Transform3< typename BV::S > &tf2, const DistanceRequest< typename BV::S > &request, DistanceResult< typename BV::S > &result)
template<typename BV , typename Shape , typename NarrowPhaseSolver , template< typename, typename > class OrientedNode>
bool	setupMeshShapeCollisionOrientedNode (OrientedNode< Shape, NarrowPhaseSolver > &node, const BVHModel< BV > &model1, const Transform3< typename BV::S > &tf1, const Shape &model2, const Transform3< typename BV::S > &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest< typename BV::S > &request, CollisionResult< typename BV::S > &result)
template<typename BV , typename Shape , typename NarrowPhaseSolver , template< typename, typename > class OrientedNode>
static bool	setupMeshShapeDistanceOrientedNode (OrientedNode< Shape, NarrowPhaseSolver > &node, const BVHModel< BV > &model1, const Transform3< typename BV::S > &tf1, const Shape &model2, const Transform3< typename BV::S > &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest< typename BV::S > &request, DistanceResult< typename BV::S > &result)
template<typename Shape , typename BV , typename NarrowPhaseSolver , template< typename, typename > class OrientedNode>
static bool	setupShapeMeshCollisionOrientedNode (OrientedNode< Shape, NarrowPhaseSolver > &node, const Shape &model1, const Transform3< typename BV::S > &tf1, const BVHModel< BV > &model2, const Transform3< typename BV::S > &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest< typename BV::S > &request, CollisionResult< typename BV::S > &result)
template<typename Shape , typename BV , typename NarrowPhaseSolver , template< typename, typename > class OrientedNode>
static bool	setupShapeMeshDistanceOrientedNode (OrientedNode< Shape, NarrowPhaseSolver > &node, const Shape &model1, const Transform3< typename BV::S > &tf1, const BVHModel< BV > &model2, const Transform3< typename BV::S > &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest< typename BV::S > &request, DistanceResult< typename BV::S > &result)
template<typename Shape , typename BV , typename NarrowPhaseSolver >
BV::S	ShapeBVHConservativeAdvancement (const CollisionGeometry< typename BV::S > *o1, const MotionBase< typename BV::S > *motion1, const CollisionGeometry< typename BV::S > *o2, const MotionBase< typename BV::S > *motion2, const NarrowPhaseSolver *nsolver, const ContinuousCollisionRequest< typename BV::S > &request, ContinuousCollisionResult< typename BV::S > &result)
template<typename Shape1 , typename Shape2 , typename NarrowPhaseSolver >
Shape1::S	ShapeConservativeAdvancement (const CollisionGeometry< typename Shape1::S > *o1, const MotionBase< typename Shape1::S > *motion1, const CollisionGeometry< typename Shape1::S > *o2, const MotionBase< typename Shape1::S > *motion2, const NarrowPhaseSolver *nsolver, const ContinuousCollisionRequest< typename Shape1::S > &request, ContinuousCollisionResult< typename Shape1::S > &result)
template<typename Shape1 , typename Shape2 , typename NarrowPhaseSolver >
std::size_t	ShapeShapeCollide (const CollisionGeometry< typename Shape1::S > *o1, const Transform3< typename Shape1::S > &tf1, const CollisionGeometry< typename Shape1::S > *o2, const Transform3< typename Shape1::S > &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest< typename Shape1::S > &request, CollisionResult< typename Shape1::S > &result)
template<typename Shape1 , typename Shape2 , typename NarrowPhaseSolver >
Shape1::S	ShapeShapeDistance (const CollisionGeometry< typename Shape1::S > *o1, const Transform3< typename Shape1::S > &tf1, const CollisionGeometry< typename Shape1::S > *o2, const Transform3< typename Shape1::S > &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest< typename Shape1::S > &request, DistanceResult< typename Shape1::S > &result)
template<typename S >
static void	shapeToGJK (const ShapeBase< S > &s, const Transform3< S > &tf, ccd_obj_t *o)
template FCL_EXPORT bool	sphereBoxDistance (const Sphere< double > &sphere, const Transform3< double > &X_FS, const Box< double > &box, const Transform3< double > &X_FB, double *distance, Vector3< double > *p_FSb, Vector3< double > *p_FBs)
template FCL_EXPORT bool	sphereBoxIntersect (const Sphere< double > &sphere, const Transform3< double > &X_FS, const Box< double > &box, const Transform3< double > &X_FB, std::vector< ContactPoint< double >> *contacts)
template bool	sphereCapsuleDistance (const Sphere< double > &s1, const Transform3< double > &tf1, const Capsule< double > &s2, const Transform3< double > &tf2, double *dist, Vector3< double > *p1, Vector3< double > *p2)
template<typename S >
FCL_EXPORT bool	sphereCapsuleDistance (const Sphere< S > &s1, const Transform3< S > &tf1, const Capsule< S > &s2, const Transform3< S > &tf2, S *dist, Vector3< S > *p1, Vector3< S > *p2)
template<typename S >
bool	sphereCapsuleDistance (const Sphere< S > &s1, const Transform3< S > &tf1, const Capsule< S > &s2, const Transform3< S > &tf2, S *dist, Vector3< S > *p1, Vector3< S > *p2)
template bool	sphereCapsuleIntersect (const Sphere< double > &s1, const Transform3< double > &tf1, const Capsule< double > &s2, const Transform3< double > &tf2, std::vector< ContactPoint< double >> *contacts)
template<typename S >
FCL_EXPORT bool	sphereCapsuleIntersect (const Sphere< S > &s1, const Transform3< S > &tf1, const Capsule< S > &s2, const Transform3< S > &tf2, std::vector< ContactPoint< S >> *contacts)
template<typename S >
bool	sphereCapsuleIntersect (const Sphere< S > &s1, const Transform3< S > &tf1, const Capsule< S > &s2, const Transform3< S > &tf2, std::vector< ContactPoint< S >> *contacts)
template FCL_EXPORT bool	sphereCylinderDistance (const Sphere< double > &sphere, const Transform3< double > &X_FS, const Cylinder< double > &cylinder, const Transform3< double > &X_FC, double *distance, Vector3< double > *p_FSc, Vector3< double > *p_FCs)
template FCL_EXPORT bool	sphereCylinderIntersect (const Sphere< double > &sphere, const Transform3< double > &X_FS, const Cylinder< double > &cylinder, const Transform3< double > &X_FC, std::vector< ContactPoint< double >> *contacts)
template bool	sphereHalfspaceIntersect (const Sphere< double > &s1, const Transform3< double > &tf1, const Halfspace< double > &s2, const Transform3< double > &tf2, std::vector< ContactPoint< double >> *contacts)
template<typename S >
FCL_EXPORT bool	sphereHalfspaceIntersect (const Sphere< S > &s1, const Transform3< S > &tf1, const Halfspace< S > &s2, const Transform3< S > &tf2, std::vector< ContactPoint< S >> *contacts)
template<typename S >
bool	sphereHalfspaceIntersect (const Sphere< S > &s1, const Transform3< S > &tf1, const Halfspace< S > &s2, const Transform3< S > &tf2, std::vector< ContactPoint< S >> *contacts)
template bool	spherePlaneIntersect (const Sphere< double > &s1, const Transform3< double > &tf1, const Plane< double > &s2, const Transform3< double > &tf2, std::vector< ContactPoint< double >> *contacts)
template<typename S >
FCL_EXPORT bool	spherePlaneIntersect (const Sphere< S > &s1, const Transform3< S > &tf1, const Plane< S > &s2, const Transform3< S > &tf2, std::vector< ContactPoint< S >> *contacts)
template<typename S >
bool	spherePlaneIntersect (const Sphere< S > &s1, const Transform3< S > &tf1, const Plane< S > &s2, const Transform3< S > &tf2, std::vector< ContactPoint< S >> *contacts)
template FCL_EXPORT bool	sphereSphereDistance (const Sphere< double > &s1, const Transform3< double > &tf1, const Sphere< double > &s2, const Transform3< double > &tf2, double *dist, Vector3< double > *p1, Vector3< double > *p2)
template<typename S >
bool	sphereSphereDistance (const Sphere< S > &s1, const Transform3< S > &tf1, const Sphere< S > &s2, const Transform3< S > &tf2, S *dist, Vector3< S > *p1, Vector3< S > *p2)
template<typename S >
FCL_EXPORT bool	sphereSphereDistance (const Sphere< S > &s1, const Transform3< S > &tf1, const Sphere< S > &s2, const Transform3< S > &tf2, S *dist, Vector3< S > *p1, Vector3< S > *p2)
template FCL_EXPORT bool	sphereSphereIntersect (const Sphere< double > &s1, const Transform3< double > &tf1, const Sphere< double > &s2, const Transform3< double > &tf2, std::vector< ContactPoint< double >> *contacts)
template<typename S >
bool	sphereSphereIntersect (const Sphere< S > &s1, const Transform3< S > &tf1, const Sphere< S > &s2, const Transform3< S > &tf2, std::vector< ContactPoint< S >> *contacts)
template<typename S >
FCL_EXPORT bool	sphereSphereIntersect (const Sphere< S > &s1, const Transform3< S > &tf1, const Sphere< S > &s2, const Transform3< S > &tf2, std::vector< ContactPoint< S >> *contacts)
template<typename S >
static void	sphereToGJK (const Sphere< S > &s, const Transform3< S > &tf, ccd_sphere_t *sph)
template bool	sphereTriangleDistance (const Sphere< double > &sp, const Transform3< double > &tf, const Vector3< double > &P1, const Vector3< double > &P2, const Vector3< double > &P3, double *dist)
template bool	sphereTriangleDistance (const Sphere< double > &sp, const Transform3< double > &tf, const Vector3< double > &P1, const Vector3< double > &P2, const Vector3< double > &P3, double *dist, Vector3< double > *p1, Vector3< double > *p2)
template bool	sphereTriangleDistance (const Sphere< double > &sp, const Transform3< double > &tf1, const Vector3< double > &P1, const Vector3< double > &P2, const Vector3< double > &P3, const Transform3< double > &tf2, double *dist, Vector3< double > *p1, Vector3< double > *p2)
template<typename S >
FCL_EXPORT bool	sphereTriangleDistance (const Sphere< S > &sp, const Transform3< S > &tf, const Vector3< S > &P1, const Vector3< S > &P2, const Vector3< S > &P3, S *dist)
template<typename S >
bool	sphereTriangleDistance (const Sphere< S > &sp, const Transform3< S > &tf, const Vector3< S > &P1, const Vector3< S > &P2, const Vector3< S > &P3, S *dist)
template<typename S >
FCL_EXPORT bool	sphereTriangleDistance (const Sphere< S > &sp, const Transform3< S > &tf, const Vector3< S > &P1, const Vector3< S > &P2, const Vector3< S > &P3, S *dist, Vector3< S > *p1, Vector3< S > *p2)
template<typename S >
bool	sphereTriangleDistance (const Sphere< S > &sp, const Transform3< S > &tf, const Vector3< S > &P1, const Vector3< S > &P2, const Vector3< S > &P3, S *dist, Vector3< S > *p1, Vector3< S > *p2)
template<typename S >
FCL_EXPORT bool	sphereTriangleDistance (const Sphere< S > &sp, const Transform3< S > &tf1, const Vector3< S > &P1, const Vector3< S > &P2, const Vector3< S > &P3, const Transform3< S > &tf2, S *dist, Vector3< S > *p1, Vector3< S > *p2)
template<typename S >
bool	sphereTriangleDistance (const Sphere< S > &sp, const Transform3< S > &tf1, const Vector3< S > &P1, const Vector3< S > &P2, const Vector3< S > &P3, const Transform3< S > &tf2, S *dist, Vector3< S > *p1, Vector3< S > *p2)
template bool	sphereTriangleIntersect (const Sphere< double > &s, const Transform3< double > &tf, const Vector3< double > &P1, const Vector3< double > &P2, const Vector3< double > &P3, Vector3< double > *contact_points, double *penetration_depth, Vector3< double > *normal_)
template<typename S >
FCL_EXPORT bool	sphereTriangleIntersect (const Sphere< S > &s, const Transform3< S > &tf, const Vector3< S > &P1, const Vector3< S > &P2, const Vector3< S > &P3, Vector3< S > *contact_points, S *penetration_depth, Vector3< S > *normal_)
template<typename S >
bool	sphereTriangleIntersect (const Sphere< S > &s, const Transform3< S > &tf, const Vector3< S > &P1, const Vector3< S > &P2, const Vector3< S > &P3, Vector3< S > *contact_points, S *penetration_depth, Vector3< S > *normal_)
static void	supportBox (const void *obj, const ccd_vec3_t *dir_, ccd_vec3_t *v)
static void	supportCap (const void *obj, const ccd_vec3_t *dir_, ccd_vec3_t *v)
static void	supportCone (const void *obj, const ccd_vec3_t *dir_, ccd_vec3_t *v)
template<typename S >
static void	supportConvex (const void *obj, const ccd_vec3_t *dir_, ccd_vec3_t *v)
static void	supportCyl (const void *obj, const ccd_vec3_t *dir_, ccd_vec3_t *v)
static void	supportEllipsoid (const void *obj, const ccd_vec3_t *dir_, ccd_vec3_t *v)
static void	supportSphere (const void *obj, const ccd_vec3_t *dir_, ccd_vec3_t *v)
static void	supportTriangle (const void *obj, const ccd_vec3_t *dir_, ccd_vec3_t *v)
	TEST_F (ExtractClosestPoint, ExtractFrom1Simplex)
	TEST_F (ExtractClosestPoint, ExtractFrom1SimplexSupport)
	TEST_F (ExtractClosestPoint, ExtractFrom2Simplex)
	TEST_F (ExtractClosestPoint, ExtractFrom2SimplexDegenerate)
	TEST_F (ExtractClosestPoint, ExtractFrom2SimplexSupport)
	TEST_F (ExtractClosestPoint, ExtractFrom3SimplesDegenerateCoincident)
	TEST_F (ExtractClosestPoint, ExtractFrom3SimplesDegenerateColinear)
	TEST_F (ExtractClosestPoint, ExtractFrom3Simplex)
template<typename S >
void	TestBoxes ()
template<typename S >
void	TestBoxesInFrameF (const Transform3< S > &X_WF)
template<typename S >
void	TestCollidingSphereGJKSignedDistance ()
template<typename S >
void	TestNonCollidingSphereGJKSignedDistance ()
template<typename S >
void	TestSimplexToPolytope3 ()
template<typename S >
void	TestSimplexToPolytope3InGivenFrame (const Transform3< S > &X_WF)
template<typename S >
void	TestSphereToSphereGJKSignedDistance (S radius1, S radius2, const Vector3< S > &p_F1, const Vector3< S > &p_F2, S solver_tolerance, S test_tol, S min_distance_expected)
std::array< Vector3< ccd_real_t >, 4 >	TetrahedronColinearVertices ()
std::array< Vector3< ccd_real_t >, 4 >	TetrahedronSmallFaceVertices ()
template<typename Shape1 , typename Shape2 , typename Solver , typename S >
void	ThrowDetailedConfiguration (const Shape1 &s1, const Transform3< S > &X_FS1, const Shape2 &s2, const Transform3< S > &X_FS2, const Solver &solver, const std::exception &e)
FCL_EXPORT void	ThrowFailedAtThisConfiguration (const std::string &message, const char *func, const char *file, int line)
template<typename S >
ccd_vec3_t	ToCcdVec3 (const Eigen::Ref< const Vector3< S >> &v)
template<typename S >
Vector3< S >	ToEigenVector (const ccd_vec3_t &v)
bool	triangle_area_is_zero (const Vector3d &a, const Vector3d &b, const Vector3d &c)
bool	TriangleMatch (const ccd_pt_face_t *f1, const ccd_pt_face_t *f2, const std::unordered_map< ccd_pt_edge_t *, ccd_pt_edge_t * > &map_e1_to_e2)
template<typename S >
FCL_EXPORT void *	triCreateGJKObject (const Vector3< S > &P1, const Vector3< S > &P2, const Vector3< S > &P3)
template<typename S >
void *	triCreateGJKObject (const Vector3< S > &P1, const Vector3< S > &P2, const Vector3< S > &P3)
template<typename S >
FCL_EXPORT void *	triCreateGJKObject (const Vector3< S > &P1, const Vector3< S > &P2, const Vector3< S > &P3, const Transform3< S > &tf)
template<typename S >
void *	triCreateGJKObject (const Vector3< S > &P1, const Vector3< S > &P2, const Vector3< S > &P3, const Transform3< S > &tf)
template void *	triCreateGJKObject (const Vector3d &P1, const Vector3d &P2, const Vector3d &P3)
template void *	triCreateGJKObject (const Vector3d &P1, const Vector3d &P2, const Vector3d &P3, const Transform3d &tf)
void	triDeleteGJKObject (void *o_)
GJKCenterFunction	triGetCenterFunction ()
GJKSupportFunction	triGetSupportFunction ()
	initialize GJK Triangle More...
FCL_EXPORT void	updateFrontList (BVHFrontList *front_list, int b1, int b2)
	Add new front node into the front list. More...
template<typename Shape >
::testing::AssertionResult	ValidateRepresentation (const Shape &shape, const std::string &code_string)
bool	VertexPositionCoincide (const ccd_pt_vertex_t *v1, const ccd_pt_vertex_t *v2, ccd_real_t tol)
template<typename S >
void	WriteCommaSeparated (std::stringstream *sstream, const Transform3< S > &p)
template<typename S >
Vector3< S >	z_axis (const Transform3< S > &X_AB)

Variables
template class FCL_EXPORT	CollisionTraversalNodeBase< double >
template class FCL_EXPORT	ConvertBVImpl< double, AABB< double >, AABB< double > >
template class FCL_EXPORT	ConvertBVImpl< double, AABB< double >, OBB< double > >
template class FCL_EXPORT	ConvertBVImpl< double, AABB< double >, RSS< double > >
template class FCL_EXPORT	ConvertBVImpl< double, OBB< double >, OBB< double > >
template class FCL_EXPORT	ConvertBVImpl< double, OBB< double >, RSS< double > >
template class FCL_EXPORT	ConvertBVImpl< double, OBBRSS< double >, OBB< double > >
template class FCL_EXPORT	ConvertBVImpl< double, OBBRSS< double >, RSS< double > >
template class FCL_EXPORT	ConvertBVImpl< double, RSS< double >, OBB< double > >
template class FCL_EXPORT	ConvertBVImpl< double, RSS< double >, RSS< double > >
template class FCL_EXPORT	DistanceTraversalNodeBase< double >
template class FCL_EXPORT	GJKInitializer< double, Box< double > >
template class FCL_EXPORT	GJKInitializer< double, Capsule< double > >
template class FCL_EXPORT	GJKInitializer< double, Cone< double > >
template class FCL_EXPORT	GJKInitializer< double, Convex< double > >
template class FCL_EXPORT	GJKInitializer< double, Cylinder< double > >
template class FCL_EXPORT	GJKInitializer< double, Ellipsoid< double > >
template class FCL_EXPORT	GJKInitializer< double, Sphere< double > >
template class FCL_EXPORT	Intersect< double >
template<typename S >
class FCL_EXPORT	IntervalTree
template class FCL_EXPORT	IntervalTreeNode< double >
template class FCL_EXPORT	MeshCollisionTraversalNodekIOS< double >
template class FCL_EXPORT	MeshCollisionTraversalNodeOBB< double >
template class FCL_EXPORT	MeshCollisionTraversalNodeOBBRSS< double >
template class FCL_EXPORT	MeshCollisionTraversalNodeRSS< double >
template class FCL_EXPORT	MeshConservativeAdvancementTraversalNodeOBBRSS< double >
template class FCL_EXPORT	MeshConservativeAdvancementTraversalNodeRSS< double >
template class FCL_EXPORT	MeshDistanceTraversalNodekIOS< double >
template class FCL_EXPORT	MeshDistanceTraversalNodeOBBRSS< double >
template class FCL_EXPORT	MeshDistanceTraversalNodeRSS< double >
template class FCL_EXPORT	PolySolver< double >
template class FCL_EXPORT	Project< double >
template class FCL_EXPORT	TraversalNodeBase< double >
template class FCL_EXPORT	TriangleDistance< double >

Typedef Documentation

BVHFrontList

using fcl::detail::BVHFrontList = typedef std::list<BVHFrontNode>

BVH front list is a list of front nodes.

Definition at line 69 of file BVH_front.h.

CollisionTraversalNodeBased

using fcl::detail::CollisionTraversalNodeBased = typedef CollisionTraversalNodeBase<double>

Definition at line 82 of file collision_traversal_node_base.h.

CollisionTraversalNodeBasef

using fcl::detail::CollisionTraversalNodeBasef = typedef CollisionTraversalNodeBase<float>

Definition at line 81 of file collision_traversal_node_base.h.

DistanceFn

using fcl::detail::DistanceFn = typedef std::function<ccd_real_t ( const void*, const void*, const ccd_t*, ccd_vec3_t*, ccd_vec3_t*)>

Definition at line 2622 of file gjk_libccd-inl.h.

EPAd

using fcl::detail::EPAd = typedef EPA<double>

Definition at line 138 of file epa.h.

EPAf

using fcl::detail::EPAf = typedef EPA<float>

Definition at line 137 of file epa.h.

GJKCenterFunction

using fcl::detail::GJKCenterFunction = typedef void (*)(const void* obj, ccd_vec3_t* c)

Definition at line 72 of file gjk_libccd.h.

GJKd

using fcl::detail::GJKd = typedef GJK<double>

Definition at line 123 of file gjk.h.

GJKf

using fcl::detail::GJKf = typedef GJK<float>

Definition at line 122 of file gjk.h.

GJKSolver_indepd

using fcl::detail::GJKSolver_indepd = typedef GJKSolver_indep<double>

Definition at line 201 of file gjk_solver_indep.h.

GJKSolver_indepf

using fcl::detail::GJKSolver_indepf = typedef GJKSolver_indep<float>

Definition at line 200 of file gjk_solver_indep.h.

GJKSolver_libccdd

using fcl::detail::GJKSolver_libccdd = typedef GJKSolver_libccd<double>

Definition at line 187 of file gjk_solver_libccd.h.

GJKSolver_libccdf

using fcl::detail::GJKSolver_libccdf = typedef GJKSolver_libccd<float>

Definition at line 186 of file gjk_solver_libccd.h.

GJKSupportFunction

using fcl::detail::GJKSupportFunction = typedef void (*)(const void* obj, const ccd_vec3_t* dir_, ccd_vec3_t* v)

callback function used by GJK algorithm

Definition at line 71 of file gjk_libccd.h.

Intersectd

using fcl::detail::Intersectd = typedef Intersect<double>

Definition at line 258 of file intersect.h.

Intersectf

using fcl::detail::Intersectf = typedef Intersect<float>

Definition at line 257 of file intersect.h.

IntervalTreed

using fcl::detail::IntervalTreed = typedef IntervalTree<double>

Definition at line 135 of file interval_tree.h.

IntervalTreef

using fcl::detail::IntervalTreef = typedef IntervalTree<float>

Definition at line 134 of file interval_tree.h.

IntervalTreeNoded

using fcl::detail::IntervalTreeNoded = typedef IntervalTreeNode<double>

Definition at line 96 of file interval_tree_node.h.

IntervalTreeNodef

using fcl::detail::IntervalTreeNodef = typedef IntervalTreeNode<float>

Definition at line 95 of file interval_tree_node.h.

it_recursion_noded

using fcl::detail::it_recursion_noded = typedef it_recursion_node<double>

Definition at line 65 of file interval_tree.h.

it_recursion_nodef

using fcl::detail::it_recursion_nodef = typedef it_recursion_node<float>

Definition at line 64 of file interval_tree.h.

MeshCollisionTraversalNodekIOSd

using fcl::detail::MeshCollisionTraversalNodekIOSd = typedef MeshCollisionTraversalNodekIOS<double>

Definition at line 197 of file mesh_collision_traversal_node.h.

MeshCollisionTraversalNodekIOSf

using fcl::detail::MeshCollisionTraversalNodekIOSf = typedef MeshCollisionTraversalNodekIOS<float>

Definition at line 196 of file mesh_collision_traversal_node.h.

MeshCollisionTraversalNodeOBBd

using fcl::detail::MeshCollisionTraversalNodeOBBd = typedef MeshCollisionTraversalNodeOBB<double>

Definition at line 123 of file mesh_collision_traversal_node.h.

MeshCollisionTraversalNodeOBBf

using fcl::detail::MeshCollisionTraversalNodeOBBf = typedef MeshCollisionTraversalNodeOBB<float>

Definition at line 122 of file mesh_collision_traversal_node.h.

MeshCollisionTraversalNodeOBBRSSd

using fcl::detail::MeshCollisionTraversalNodeOBBRSSd = typedef MeshCollisionTraversalNodeOBBRSS<double>

Definition at line 230 of file mesh_collision_traversal_node.h.

MeshCollisionTraversalNodeOBBRSSf

using fcl::detail::MeshCollisionTraversalNodeOBBRSSf = typedef MeshCollisionTraversalNodeOBBRSS<float>

Definition at line 229 of file mesh_collision_traversal_node.h.

MeshCollisionTraversalNodeRSSd

using fcl::detail::MeshCollisionTraversalNodeRSSd = typedef MeshCollisionTraversalNodeRSS<double>

Definition at line 165 of file mesh_collision_traversal_node.h.

MeshCollisionTraversalNodeRSSf

using fcl::detail::MeshCollisionTraversalNodeRSSf = typedef MeshCollisionTraversalNodeRSS<float>

Definition at line 164 of file mesh_collision_traversal_node.h.

MeshConservativeAdvancementTraversalNodeOBBRSSd

using fcl::detail::MeshConservativeAdvancementTraversalNodeOBBRSSd = typedef MeshConservativeAdvancementTraversalNodeOBBRSS<double>

Definition at line 199 of file mesh_conservative_advancement_traversal_node.h.

MeshConservativeAdvancementTraversalNodeOBBRSSf

using fcl::detail::MeshConservativeAdvancementTraversalNodeOBBRSSf = typedef MeshConservativeAdvancementTraversalNodeOBBRSS<float>

Definition at line 198 of file mesh_conservative_advancement_traversal_node.h.

MeshConservativeAdvancementTraversalNodeRSSd

using fcl::detail::MeshConservativeAdvancementTraversalNodeRSSd = typedef MeshConservativeAdvancementTraversalNodeRSS<double>

Definition at line 148 of file mesh_conservative_advancement_traversal_node.h.

MeshConservativeAdvancementTraversalNodeRSSf

using fcl::detail::MeshConservativeAdvancementTraversalNodeRSSf = typedef MeshConservativeAdvancementTraversalNodeRSS<float>

Definition at line 147 of file mesh_conservative_advancement_traversal_node.h.

MeshDistanceTraversalNodekIOSd

using fcl::detail::MeshDistanceTraversalNodekIOSd = typedef MeshDistanceTraversalNodekIOS<double>

Definition at line 162 of file mesh_distance_traversal_node.h.

MeshDistanceTraversalNodekIOSf

using fcl::detail::MeshDistanceTraversalNodekIOSf = typedef MeshDistanceTraversalNodekIOS<float>

Definition at line 161 of file mesh_distance_traversal_node.h.

MeshDistanceTraversalNodeOBBRSSd

using fcl::detail::MeshDistanceTraversalNodeOBBRSSd = typedef MeshDistanceTraversalNodeOBBRSS<double>

Definition at line 203 of file mesh_distance_traversal_node.h.

MeshDistanceTraversalNodeOBBRSSf

using fcl::detail::MeshDistanceTraversalNodeOBBRSSf = typedef MeshDistanceTraversalNodeOBBRSS<float>

Definition at line 202 of file mesh_distance_traversal_node.h.

MeshDistanceTraversalNodeRSSd

using fcl::detail::MeshDistanceTraversalNodeRSSd = typedef MeshDistanceTraversalNodeRSS<double>

Definition at line 121 of file mesh_distance_traversal_node.h.

MeshDistanceTraversalNodeRSSf

using fcl::detail::MeshDistanceTraversalNodeRSSf = typedef MeshDistanceTraversalNodeRSS<float>

Definition at line 120 of file mesh_distance_traversal_node.h.

MinkowskiDiffd

using fcl::detail::MinkowskiDiffd = typedef MinkowskiDiff<double>

Definition at line 96 of file minkowski_diff.h.

MinkowskiDifff

using fcl::detail::MinkowskiDifff = typedef MinkowskiDiff<float>

Definition at line 95 of file minkowski_diff.h.

PolySolverd

using fcl::detail::PolySolverd = typedef PolySolver<double>

Definition at line 73 of file polysolver.h.

PolySolverf

using fcl::detail::PolySolverf = typedef PolySolver<float>

Definition at line 72 of file polysolver.h.

Projectd

using fcl::detail::Projectd = typedef Project<double>

Definition at line 89 of file project.h.

Projectf

using fcl::detail::Projectf = typedef Project<float>

Definition at line 88 of file project.h.

SimpleIntervald

using fcl::detail::SimpleIntervald = typedef SimpleInterval<double>

Definition at line 64 of file simple_interval.h.

SimpleIntervalf

using fcl::detail::SimpleIntervalf = typedef SimpleInterval<float>

Definition at line 63 of file simple_interval.h.

SpatialHashd

using fcl::detail::SpatialHashd = typedef SpatialHash<double>

Definition at line 67 of file spatial_hash.h.

SpatialHashf

using fcl::detail::SpatialHashf = typedef SpatialHash<float>

Definition at line 66 of file spatial_hash.h.

TriangleDistanced

using fcl::detail::TriangleDistanced = typedef TriangleDistance<double>

Definition at line 107 of file triangle_distance.h.

TriangleDistancef

using fcl::detail::TriangleDistancef = typedef TriangleDistance<float>

Definition at line 106 of file triangle_distance.h.

Vector3d

using fcl::detail::Vector3d = typedef Vector3<double>

Definition at line 47 of file test_gjk_libccd-inl_extractClosestPoints.cpp.

Enumeration Type Documentation

SplitMethodType

enum fcl::detail::SplitMethodType

Three types of split algorithms are provided in FCL as default.

Enumerator
SPLIT_METHOD_MEAN
SPLIT_METHOD_MEDIAN
SPLIT_METHOD_BV_CENTER

Definition at line 56 of file BV_splitter.h.

Function Documentation

are_coincident()

bool fcl::detail::are_coincident	(	const Vector3d &	p,
		const Vector3d &	q
	)

Definition at line 115 of file test_gjk_libccd-inl_extractClosestPoints.cpp.

are_same()

::testing::AssertionResult fcl::detail::are_same	(	const Vector3d &	expected,
		const ccd_vec3_t &	tested,
		double	tolerance
	)

Definition at line 68 of file test_gjk_libccd-inl_extractClosestPoints.cpp.

boxBox2() [1/5]

template int fcl::detail::boxBox2	(	const Vector3< double > &	side1,
		const Transform3< double > &	tf1,
		const Vector3< double > &	side2,
		const Transform3< double > &	tf2,
		Vector3< double > &	normal,
		double *	depth,
		int *	return_code,
		int	maxc,
		std::vector< ContactPoint< double >> &	contacts
	)

boxBox2() [2/5]

template<typename S , typename DerivedA , typename DerivedB >

FCL_EXPORT int fcl::detail::boxBox2	(	const Vector3< S > &	side1,
		const Eigen::MatrixBase< DerivedA > &	R1,
		const Eigen::MatrixBase< DerivedB > &	T1,
		const Vector3< S > &	side2,
		const Eigen::MatrixBase< DerivedA > &	R2,
		const Eigen::MatrixBase< DerivedB > &	T2,
		Vector3< S > &	normal,
		S *	depth,
		int *	return_code,
		int	maxc,
		std::vector< ContactPoint< S >> &	contacts
	)

Definition at line 248 of file box_box-inl.h.

boxBox2() [3/5]

template<typename S , typename DerivedA , typename DerivedB >

int fcl::detail::boxBox2	(	const Vector3< S > &	side1,
		const Eigen::MatrixBase< DerivedA > &	R1,
		const Eigen::MatrixBase< DerivedB > &	T1,
		const Vector3< S > &	side2,
		const Eigen::MatrixBase< DerivedA > &	R2,
		const Eigen::MatrixBase< DerivedB > &	T2,
		Vector3< S > &	normal,
		S *	depth,
		int *	return_code,
		int	maxc,
		std::vector< ContactPoint< S >> &	contacts
	)

Definition at line 248 of file box_box-inl.h.

boxBox2() [4/5]

template<typename S >

FCL_EXPORT int fcl::detail::boxBox2	(	const Vector3< S > &	side1,
		const Transform3< S > &	tf1,
		const Vector3< S > &	side2,
		const Transform3< S > &	tf2,
		Vector3< S > &	normal,
		S *	depth,
		int *	return_code,
		int	maxc,
		std::vector< ContactPoint< S >> &	contacts
	)

Definition at line 840 of file box_box-inl.h.

boxBox2() [5/5]

template<typename S >

int fcl::detail::boxBox2	(	const Vector3< S > &	side1,
		const Transform3< S > &	tf1,
		const Vector3< S > &	side2,
		const Transform3< S > &	tf2,
		Vector3< S > &	normal,
		S *	depth,
		int *	return_code,
		int	maxc,
		std::vector< ContactPoint< S >> &	contacts
	)

Definition at line 840 of file box_box-inl.h.

boxBoxIntersect() [1/3]

template bool fcl::detail::boxBoxIntersect	(	const Box< double > &	s1,
		const Transform3< double > &	tf1,
		const Box< double > &	s2,
		const Transform3< double > &	tf2,
		std::vector< ContactPoint< double >> *	contacts_
	)

boxBoxIntersect() [2/3]

template<typename S >

FCL_EXPORT bool fcl::detail::boxBoxIntersect	(	const Box< S > &	s1,
		const Transform3< S > &	tf1,
		const Box< S > &	s2,
		const Transform3< S > &	tf2,
		std::vector< ContactPoint< S >> *	contacts_
	)

Definition at line 857 of file box_box-inl.h.

boxBoxIntersect() [3/3]

template<typename S >

bool fcl::detail::boxBoxIntersect	(	const Box< S > &	s1,
		const Transform3< S > &	tf1,
		const Box< S > &	s2,
		const Transform3< S > &	tf2,
		std::vector< ContactPoint< S >> *	contacts_
	)

Definition at line 857 of file box_box-inl.h.

boxHalfspaceIntersect() [1/6]

template bool fcl::detail::boxHalfspaceIntersect	(	const Box< double > &	s1,
		const Transform3< double > &	tf1,
		const Halfspace< double > &	s2,
		const Transform3< double > &	tf2
	)

boxHalfspaceIntersect() [2/6]

template bool fcl::detail::boxHalfspaceIntersect	(	const Box< double > &	s1,
		const Transform3< double > &	tf1,
		const Halfspace< double > &	s2,
		const Transform3< double > &	tf2,
		std::vector< ContactPoint< double >> *	contacts
	)

boxHalfspaceIntersect() [3/6]

template<typename S >

FCL_EXPORT bool fcl::detail::boxHalfspaceIntersect	(	const Box< S > &	s1,
		const Transform3< S > &	tf1,
		const Halfspace< S > &	s2,
		const Transform3< S > &	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

Definition at line 226 of file narrowphase/detail/primitive_shape_algorithm/halfspace-inl.h.

boxHalfspaceIntersect() [4/6]

template<typename S >

bool fcl::detail::boxHalfspaceIntersect	(	const Box< S > &	s1,
		const Transform3< S > &	tf1,
		const Halfspace< S > &	s2,
		const Transform3< S > &	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

Definition at line 226 of file narrowphase/detail/primitive_shape_algorithm/halfspace-inl.h.

boxHalfspaceIntersect() [5/6]

template<typename S >

FCL_EXPORT bool fcl::detail::boxHalfspaceIntersect	(	const Box< S > &	s1,
		const Transform3< S > &	tf1,
		const Halfspace< S > &	s2,
		const Transform3< S > &	tf2,
		std::vector< ContactPoint< S >> *	contacts
	)

find deepest point

compute the contact point from the deepest point

Definition at line 244 of file narrowphase/detail/primitive_shape_algorithm/halfspace-inl.h.

boxHalfspaceIntersect() [6/6]

template<typename S >

bool fcl::detail::boxHalfspaceIntersect	(	const Box< S > &	s1,
		const Transform3< S > &	tf1,
		const Halfspace< S > &	s2,
		const Transform3< S > &	tf2,
		std::vector< ContactPoint< S >> *	contacts
	)

find deepest point

compute the contact point from the deepest point

Definition at line 244 of file narrowphase/detail/primitive_shape_algorithm/halfspace-inl.h.

boxPlaneIntersect() [1/3]

template bool fcl::detail::boxPlaneIntersect	(	const Box< double > &	s1,
		const Transform3< double > &	tf1,
		const Plane< double > &	s2,
		const Transform3< double > &	tf2,
		std::vector< ContactPoint< double >> *	contacts
	)

boxPlaneIntersect() [2/3]

template<typename S >

FCL_EXPORT bool fcl::detail::boxPlaneIntersect	(	const Box< S > &	s1,
		const Transform3< S > &	tf1,
		const Plane< S > &	s2,
		const Transform3< S > &	tf2,
		std::vector< ContactPoint< S >> *	contacts
	)

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 197 of file narrowphase/detail/primitive_shape_algorithm/plane-inl.h.

boxPlaneIntersect() [3/3]

template<typename S >

bool fcl::detail::boxPlaneIntersect	(	const Box< S > &	s1,
		const Transform3< S > &	tf1,
		const Plane< S > &	s2,
		const Transform3< S > &	tf2,
		std::vector< ContactPoint< S >> *	contacts
	)

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 197 of file narrowphase/detail/primitive_shape_algorithm/plane-inl.h.

boxToGJK()

template<typename S >

static void fcl::detail::boxToGJK ( const Box< S > &  s, const Transform3< S > &  tf, ccd_box_t *  box  )

static

Definition at line 2278 of file gjk_libccd-inl.h.

BVHCollide() [1/2]

template<typename BV >

std::size_t fcl::detail::BVHCollide	(	const CollisionGeometry< typename BV::S > *	o1,
		const Transform3< typename BV::S > &	tf1,
		const CollisionGeometry< typename BV::S > *	o2,
		const Transform3< typename BV::S > &	tf2,
		const CollisionRequest< typename BV::S > &	request,
		CollisionResult< typename BV::S > &	result
	)

Definition at line 558 of file collision_func_matrix-inl.h.

BVHCollide() [2/2]

template<typename BV , typename NarrowPhaseSolver >

std::size_t fcl::detail::BVHCollide	(	const CollisionGeometry< typename BV::S > *	o1,
		const Transform3< typename BV::S > &	tf1,
		const CollisionGeometry< typename BV::S > *	o2,
		const Transform3< typename BV::S > &	tf2,
		const NarrowPhaseSolver *	nsolver,
		const CollisionRequest< typename BV::S > &	request,
		CollisionResult< typename BV::S > &	result
	)

Definition at line 648 of file collision_func_matrix-inl.h.

BVHConservativeAdvancement()

template<typename BV , typename NarrowPhaseSolver >

BV::S fcl::detail::BVHConservativeAdvancement	(	const CollisionGeometry< typename BV::S > *	o1,
		const MotionBase< typename BV::S > *	motion1,
		const CollisionGeometry< typename BV::S > *	o2,
		const MotionBase< typename BV::S > *	motion2,
		const NarrowPhaseSolver *	nsolver,
		const ContinuousCollisionRequest< typename BV::S > &	request,
		ContinuousCollisionResult< typename BV::S > &	result
	)

Definition at line 693 of file conservative_advancement_func_matrix-inl.h.

BVHDistance() [1/2]

template<typename BV >

BV::S fcl::detail::BVHDistance	(	const CollisionGeometry< typename BV::S > *	o1,
		const Transform3< typename BV::S > &	tf1,
		const CollisionGeometry< typename BV::S > *	o2,
		const Transform3< typename BV::S > &	tf2,
		const DistanceRequest< typename BV::S > &	request,
		DistanceResult< typename BV::S > &	result
	)

Definition at line 374 of file distance_func_matrix-inl.h.

BVHDistance() [2/2]

template<typename BV , typename NarrowPhaseSolver >

BV::S fcl::detail::BVHDistance	(	const CollisionGeometry< typename BV::S > *	o1,
		const Transform3< typename BV::S > &	tf1,
		const CollisionGeometry< typename BV::S > *	o2,
		const Transform3< typename BV::S > &	tf2,
		const NarrowPhaseSolver *	nsolver,
		const DistanceRequest< typename BV::S > &	request,
		DistanceResult< typename BV::S > &	result
	)

Definition at line 462 of file distance_func_matrix-inl.h.

BVHShapeConservativeAdvancement()

template<typename BV , typename Shape , typename NarrowPhaseSolver >

BV::S fcl::detail::BVHShapeConservativeAdvancement	(	const CollisionGeometry< typename BV::S > *	o1,
		const MotionBase< typename BV::S > *	motion1,
		const CollisionGeometry< typename BV::S > *	o2,
		const MotionBase< typename BV::S > *	motion2,
		const NarrowPhaseSolver *	nsolver,
		const ContinuousCollisionRequest< typename BV::S > &	request,
		ContinuousCollisionResult< typename BV::S > &	result
	)

Definition at line 758 of file conservative_advancement_func_matrix-inl.h.

capsuleCapsuleDistance() [1/3]

template bool fcl::detail::capsuleCapsuleDistance	(	const Capsule< double > &	s1,
		const Transform3< double > &	tf1,
		const Capsule< double > &	s2,
		const Transform3< double > &	tf2,
		double *	dist,
		Vector3d *	p1_res,
		Vector3d *	p2_res
	)

capsuleCapsuleDistance() [2/3]

template<typename S >

FCL_EXPORT bool fcl::detail::capsuleCapsuleDistance	(	const Capsule< S > &	s1,
		const Transform3< S > &	X_FC1,
		const Capsule< S > &	s2,
		const Transform3< S > &	X_FC2,
		S *	dist,
		Vector3< S > *	p_FW1,
		Vector3< S > *	p_FW2
	)

Computes the signed distance between two capsules s1 and s2 (with given poses X_FC1 and X_FC2 of the two capsules in a common frame F). Further reports the witness points to that distance (p_FW1 and p_FW2).

It is guaranteed that |p_FW1 - p_FW2| = |dist|.

There are degenerate cases where there is no unique pair of witness points. If the center lines of the two capsules intersect (either once or multiple times when the are co-linear) then distance will still be reported (a negative value with the maximum magnitude possible between the two capsules) and an arbitrary pair of witness points from the set of valid pairs.

Parameters

s1	The first capsule.
X_FC1	The pose of the first capsule in a common frame F.
s2	The second capsule.
X_FC2	The pose of the second capsule in a common frame F.
dist	The signed distance between the two capsules (negative indicates intersection).
p_FW1	The first witness point: a point on the surface of the first capsule measured and expressed in the common frame F.
p_FW2	The second witness point: a point on the surface of the second capsule measured and expressed in the common frame F.

Returns

true.

Template Parameters

S	The scalar type for computation.

Definition at line 160 of file capsule_capsule-inl.h.

capsuleCapsuleDistance() [3/3]

template<typename S >

bool fcl::detail::capsuleCapsuleDistance	(	const Capsule< S > &	s1,
		const Transform3< S > &	X_FC1,
		const Capsule< S > &	s2,
		const Transform3< S > &	X_FC2,
		S *	dist,
		Vector3< S > *	p_FW1,
		Vector3< S > *	p_FW2
	)

Computes the signed distance between two capsules s1 and s2 (with given poses X_FC1 and X_FC2 of the two capsules in a common frame F). Further reports the witness points to that distance (p_FW1 and p_FW2).

It is guaranteed that |p_FW1 - p_FW2| = |dist|.

There are degenerate cases where there is no unique pair of witness points. If the center lines of the two capsules intersect (either once or multiple times when the are co-linear) then distance will still be reported (a negative value with the maximum magnitude possible between the two capsules) and an arbitrary pair of witness points from the set of valid pairs.

Parameters

s1	The first capsule.
X_FC1	The pose of the first capsule in a common frame F.
s2	The second capsule.
X_FC2	The pose of the second capsule in a common frame F.
dist	The signed distance between the two capsules (negative indicates intersection).
p_FW1	The first witness point: a point on the surface of the first capsule measured and expressed in the common frame F.
p_FW2	The second witness point: a point on the surface of the second capsule measured and expressed in the common frame F.

Returns

true.

Template Parameters

S	The scalar type for computation.

Definition at line 160 of file capsule_capsule-inl.h.

capsuleHalfspaceIntersect() [1/3]

template bool fcl::detail::capsuleHalfspaceIntersect	(	const Capsule< double > &	s1,
		const Transform3< double > &	tf1,
		const Halfspace< double > &	s2,
		const Transform3< double > &	tf2,
		std::vector< ContactPoint< double >> *	contacts
	)

capsuleHalfspaceIntersect() [2/3]

template<typename S >

FCL_EXPORT bool fcl::detail::capsuleHalfspaceIntersect	(	const Capsule< S > &	s1,
		const Transform3< S > &	tf1,
		const Halfspace< S > &	s2,
		const Transform3< S > &	tf2,
		std::vector< ContactPoint< S >> *	contacts
	)

Definition at line 315 of file narrowphase/detail/primitive_shape_algorithm/halfspace-inl.h.

capsuleHalfspaceIntersect() [3/3]

template<typename S >

bool fcl::detail::capsuleHalfspaceIntersect	(	const Capsule< S > &	s1,
		const Transform3< S > &	tf1,
		const Halfspace< S > &	s2,
		const Transform3< S > &	tf2,
		std::vector< ContactPoint< S >> *	contacts
	)

Definition at line 315 of file narrowphase/detail/primitive_shape_algorithm/halfspace-inl.h.

capsulePlaneIntersect() [1/6]

template bool fcl::detail::capsulePlaneIntersect	(	const Capsule< double > &	s1,
		const Transform3< double > &	tf1,
		const Plane< double > &	s2,
		const Transform3< double > &	tf2
	)

capsulePlaneIntersect() [2/6]

template bool fcl::detail::capsulePlaneIntersect	(	const Capsule< double > &	s1,
		const Transform3< double > &	tf1,
		const Plane< double > &	s2,
		const Transform3< double > &	tf2,
		std::vector< ContactPoint< double >> *	contacts
	)

capsulePlaneIntersect() [3/6]

template<typename S >

FCL_EXPORT bool fcl::detail::capsulePlaneIntersect	(	const Capsule< S > &	s1,
		const Transform3< S > &	tf1,
		const Plane< S > &	s2,
		const Transform3< S > &	tf2
	)

Definition at line 269 of file narrowphase/detail/primitive_shape_algorithm/plane-inl.h.

capsulePlaneIntersect() [4/6]

template<typename S >

bool fcl::detail::capsulePlaneIntersect	(	const Capsule< S > &	s1,
		const Transform3< S > &	tf1,
		const Plane< S > &	s2,
		const Transform3< S > &	tf2
	)

Definition at line 269 of file narrowphase/detail/primitive_shape_algorithm/plane-inl.h.

capsulePlaneIntersect() [5/6]

template<typename S >

FCL_EXPORT bool fcl::detail::capsulePlaneIntersect	(	const Capsule< S > &	s1,
		const Transform3< S > &	tf1,
		const Plane< S > &	s2,
		const Transform3< S > &	tf2,
		std::vector< ContactPoint< S >> *	contacts
	)

Definition at line 294 of file narrowphase/detail/primitive_shape_algorithm/plane-inl.h.

capsulePlaneIntersect() [6/6]

template<typename S >

bool fcl::detail::capsulePlaneIntersect	(	const Capsule< S > &	s1,
		const Transform3< S > &	tf1,
		const Plane< S > &	s2,
		const Transform3< S > &	tf2,
		std::vector< ContactPoint< S >> *	contacts
	)

Definition at line 294 of file narrowphase/detail/primitive_shape_algorithm/plane-inl.h.

capToGJK()

template<typename S >

static void fcl::detail::capToGJK ( const Capsule< S > &  s, const Transform3< S > &  tf, ccd_cap_t *  cap  )

static

Definition at line 2287 of file gjk_libccd-inl.h.

ccd_to_eigen()

Vector3d fcl::detail::ccd_to_eigen

(

const ccd_vec3_t &

vector

)

Definition at line 60 of file test_gjk_libccd-inl_extractClosestPoints.cpp.

centerConvex()

template<typename S >

static void fcl::detail::centerConvex ( const void *  obj, ccd_vec3_t *  c  )

static

Definition at line 2557 of file gjk_libccd-inl.h.

centerShape()

static void fcl::detail::centerShape ( const void *  obj, ccd_vec3_t *  c  )

inlinestatic

Definition at line 2550 of file gjk_libccd-inl.h.

centerTriangle()

static void fcl::detail::centerTriangle ( const void *  obj, ccd_vec3_t *  c  )

static

Definition at line 2566 of file gjk_libccd-inl.h.

CheckComputeVisiblePatch()

void fcl::detail::CheckComputeVisiblePatch	(	const Polytope &	polytope,
		ccd_pt_face_t &	face,
		const ccd_vec3_t &	new_vertex,
		const std::unordered_set< int > &	border_edge_indices_expected,
		const std::unordered_set< int > &	visible_face_indices_expected,
		const std::unordered_set< int > &	internal_edges_indices_expected
	)

Definition at line 613 of file test_gjk_libccd-inl_epa.cpp.

CheckComputeVisiblePatchColinearNewVertex()

void fcl::detail::CheckComputeVisiblePatchColinearNewVertex	(	EquilateralTetrahedron &	tet,
		double	rho
	)

Definition at line 712 of file test_gjk_libccd-inl_epa.cpp.

CheckComputeVisiblePatchCommon()

void fcl::detail::CheckComputeVisiblePatchCommon	(	const Polytope &	polytope,
		const std::unordered_set< ccd_pt_edge_t * > &	border_edges,
		const std::unordered_set< ccd_pt_face_t * > &	visible_faces,
		const std::unordered_set< ccd_pt_edge_t * > &	internal_edges,
		const std::unordered_set< int > &	border_edge_indices_expected,
		const std::unordered_set< int > &	visible_face_indices_expected,
		const std::unordered_set< int >	internal_edges_indices_expected
	)

Definition at line 558 of file test_gjk_libccd-inl_epa.cpp.

CheckComputeVisiblePatchRecursive()

void fcl::detail::CheckComputeVisiblePatchRecursive	(	const Polytope &	polytope,
		ccd_pt_face_t &	face,
		const std::vector< int > &	edge_indices,
		const ccd_vec3_t &	new_vertex,
		const std::unordered_set< int > &	border_edge_indices_expected,
		const std::unordered_set< int > &	visible_face_indices_expected,
		const std::unordered_set< int > &	internal_edges_indices_expected
	)

Definition at line 586 of file test_gjk_libccd-inl_epa.cpp.

CheckTetrahedronFaceNormal()

void fcl::detail::CheckTetrahedronFaceNormal

(

const Tetrahedron &

p

)

Definition at line 193 of file test_gjk_libccd-inl_epa.cpp.

clamp() [1/3]

template double fcl::detail::clamp	(	double	n,
		double	min,
		double	max
	)

clamp() [2/3]

template<typename S >

FCL_EXPORT S fcl::detail::clamp	(	S	n,
		S	min,
		S	max
	)

Definition at line 70 of file capsule_capsule-inl.h.

clamp() [3/3]

template<typename S >

S fcl::detail::clamp	(	S	n,
		S	min,
		S	max
	)

Definition at line 70 of file capsule_capsule-inl.h.

closestPtSegmentSegment() [1/3]

template<typename S >

FCL_EXPORT S fcl::detail::closestPtSegmentSegment	(	const Vector3< S > &	p_FP1,
		const Vector3< S > &	p_FQ1,
		const Vector3< S > &	p_FP2,
		const Vector3< S > &	p_FQ2,
		S *	s,
		S *	t,
		Vector3< S > *	p_FC1,
		Vector3< S > *	p_FC2
	)

Computes the pair of closest points (p_FC1, p_FC2) between two line segments given by point pairs (p_FP1, p_FQ1) and (p_FP2, p_FQ2)`. If the lines are parallel, there may be no unique such point pair, in that case it computes one from the set of nearest pairs. As a by-product, it reports the squared distance between those points and the parameters (s and t) such that p_FC1 = p_FP1 + s * (p_FQ1 - p_FP1) for segment one, and similarly for p_FC2 and t, with 0 ≤ s,t ≤ 1. All points are measured and expressed in a common frame F.

Parameters

p_FP1	Segment 1's first point, P1.
p_FQ1	Segment 1's second point, Q1.
p_FP2	Segment 2's first point, P2.
p_FQ2	Segment 2's second point, Q2.
s	The parameter relating C1 with P1 and Q1.
t	The parameter relating C2 with P2 and Q2.
p_FC1	The point C1 on segment 1, nearest segment 2.
p_FC2	The point C2 on segment 2, nearest segment 1.

Returns

The squared distance between points C1 and C2.

Template Parameters

S	The scalar type for computation.

Definition at line 79 of file capsule_capsule-inl.h.

closestPtSegmentSegment() [2/3]

template<typename S >

S fcl::detail::closestPtSegmentSegment	(	const Vector3< S > &	p_FP1,
		const Vector3< S > &	p_FQ1,
		const Vector3< S > &	p_FP2,
		const Vector3< S > &	p_FQ2,
		S *	s,
		S *	t,
		Vector3< S > *	p_FC1,
		Vector3< S > *	p_FC2
	)

Computes the pair of closest points (p_FC1, p_FC2) between two line segments given by point pairs (p_FP1, p_FQ1) and (p_FP2, p_FQ2)`. If the lines are parallel, there may be no unique such point pair, in that case it computes one from the set of nearest pairs. As a by-product, it reports the squared distance between those points and the parameters (s and t) such that p_FC1 = p_FP1 + s * (p_FQ1 - p_FP1) for segment one, and similarly for p_FC2 and t, with 0 ≤ s,t ≤ 1. All points are measured and expressed in a common frame F.

Parameters

p_FP1	Segment 1's first point, P1.
p_FQ1	Segment 1's second point, Q1.
p_FP2	Segment 2's first point, P2.
p_FQ2	Segment 2's second point, Q2.
s	The parameter relating C1 with P1 and Q1.
t	The parameter relating C2 with P2 and Q2.
p_FC1	The point C1 on segment 1, nearest segment 2.
p_FC2	The point C2 on segment 2, nearest segment 1.

Returns

The squared distance between points C1 and C2.

Template Parameters

S	The scalar type for computation.

Definition at line 79 of file capsule_capsule-inl.h.

closestPtSegmentSegment() [3/3]

template double fcl::detail::closestPtSegmentSegment	(	const Vector3d &	p_FP1,
		const Vector3d &	p_FQ1,
		const Vector3d &	p_FP2,
		const Vector3d &	p_FQ2,
		double *	s,
		double *	t,
		Vector3d *	p_FC1,
		Vector3d *	p_FC2
	)

collide() [1/3]

template void fcl::detail::collide	(	CollisionTraversalNodeBase< double > *	node,
		BVHFrontList *	front_list
	)

collide() [2/3]

template<typename S >

void fcl::detail::collide	(	CollisionTraversalNodeBase< S > *	node,
		BVHFrontList *	front_list
	)

collision on collision traversal node; can use front list to accelerate

Definition at line 72 of file collision_node-inl.h.

collide() [3/3]

template<typename S >

FCL_EXPORT void fcl::detail::collide	(	CollisionTraversalNodeBase< S > *	node,
		BVHFrontList *	front_list = nullptr
	)

collision on collision traversal node; can use front list to accelerate

Definition at line 72 of file collision_node-inl.h.

collide2() [1/6]

template void fcl::detail::collide2	(	MeshCollisionTraversalNodeOBB< double > *	node,
		BVHFrontList *	front_list
	)

collide2() [2/6]

template<typename S >

void fcl::detail::collide2	(	MeshCollisionTraversalNodeOBB< S > *	node,
		BVHFrontList *	front_list
	)

special collision on OBB traversal node

Definition at line 86 of file collision_node-inl.h.

collide2() [3/6]

template<typename S >

FCL_EXPORT void fcl::detail::collide2	(	MeshCollisionTraversalNodeOBB< S > *	node,
		BVHFrontList *	front_list = nullptr
	)

special collision on OBB traversal node

Definition at line 86 of file collision_node-inl.h.

collide2() [4/6]

template void fcl::detail::collide2	(	MeshCollisionTraversalNodeRSS< double > *	node,
		BVHFrontList *	front_list
	)

collide2() [5/6]

template<typename S >

void fcl::detail::collide2	(	MeshCollisionTraversalNodeRSS< S > *	node,
		BVHFrontList *	front_list
	)

special collision on RSS traversal node

Definition at line 108 of file collision_node-inl.h.

collide2() [6/6]

template<typename S >

FCL_EXPORT void fcl::detail::collide2	(	MeshCollisionTraversalNodeRSS< S > *	node,
		BVHFrontList *	front_list = nullptr
	)

special collision on RSS traversal node

Definition at line 108 of file collision_node-inl.h.

collisionRecurse() [1/6]

template void fcl::detail::collisionRecurse	(	CollisionTraversalNodeBase< double > *	node,
		int	b1,
		int	b2,
		BVHFrontList *	front_list
	)

collisionRecurse() [2/6]

template<typename S >

FCL_EXPORT void fcl::detail::collisionRecurse	(	CollisionTraversalNodeBase< S > *	node,
		int	b1,
		int	b2,
		BVHFrontList *	front_list
	)

Recurse function for collision.

Definition at line 84 of file traversal_recurse-inl.h.

collisionRecurse() [3/6]

template void fcl::detail::collisionRecurse	(	MeshCollisionTraversalNodeOBB< double > *	node,
		int	b1,
		int	b2,
		const Matrix3< double > &	R,
		const Vector3< double > &	T,
		BVHFrontList *	front_list
	)

collisionRecurse() [4/6]

template<typename S >

FCL_EXPORT void fcl::detail::collisionRecurse	(	MeshCollisionTraversalNodeOBB< S > *	node,
		int	b1,
		int	b2,
		const Matrix3< S > &	R,
		const Vector3< S > &	T,
		BVHFrontList *	front_list
	)

Recurse function for collision, specialized for OBB type.

Definition at line 134 of file traversal_recurse-inl.h.

collisionRecurse() [5/6]

template void fcl::detail::collisionRecurse	(	MeshCollisionTraversalNodeRSS< double > *	node,
		int	b1,
		int	b2,
		const Matrix3< double > &	R,
		const Vector3< double > &	T,
		BVHFrontList *	front_list
	)

collisionRecurse() [6/6]

template<typename S >

FCL_EXPORT void fcl::detail::collisionRecurse	(	MeshCollisionTraversalNodeRSS< S > *	node,
		int	b1,
		int	b2,
		const Matrix3< S > &	R,
		const Vector3< S > &	T,
		BVHFrontList *	front_list
	)

Recurse function for collision, specialized for RSS type.

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

CompareCcdVec3()

void fcl::detail::CompareCcdVec3	(	const ccd_vec3_t &	v,
		const ccd_vec3_t &	v_expected,
		ccd_real_t	tol
	)

Definition at line 1208 of file test_gjk_libccd-inl_epa.cpp.

ComparePolytope()

void fcl::detail::ComparePolytope	(	const ccd_pt_t *	polytope1,
		const ccd_pt_t *	polytope2,
		ccd_real_t	tol
	)

Definition at line 921 of file test_gjk_libccd-inl_epa.cpp.

ComputeSphereSphereDistance()

template<typename S >

S fcl::detail::ComputeSphereSphereDistance	(	S	radius1,
		S	radius2,
		const Vector3< S > &	p_F1,
		const Vector3< S > &	p_F2
	)

Definition at line 57 of file test_gjk_libccd-inl_signed_distance.cpp.

computeSplitValue_bvcenter()

template<typename S , typename BV >

void fcl::detail::computeSplitValue_bvcenter	(	const BV &	bv,
		S &	split_value
	)

Definition at line 550 of file BV_splitter-inl.h.

computeSplitValue_mean()

template<typename S , typename BV >

void fcl::detail::computeSplitValue_mean	(	const BV &	bv,
		Vector3< S > *	vertices,
		Triangle *	triangles,
		unsigned int *	primitive_indices,
		int	num_primitives,
		BVHModelType	type,
		const Vector3< S > &	split_vector,
		S &	split_value
	)

Definition at line 558 of file BV_splitter-inl.h.

computeSplitValue_median()

template<typename S , typename BV >

void fcl::detail::computeSplitValue_median	(	const BV &	bv,
		Vector3< S > *	vertices,
		Triangle *	triangles,
		unsigned int *	primitive_indices,
		int	num_primitives,
		BVHModelType	type,
		const Vector3< S > &	split_vector,
		S &	split_value
	)

Definition at line 603 of file BV_splitter-inl.h.

computeSplitVector()

template<typename S , typename BV >

void fcl::detail::computeSplitVector	(	const BV &	bv,
		Vector3< S > &	split_vector
	)

Definition at line 523 of file BV_splitter-inl.h.

coneHalfspaceIntersect() [1/3]

template bool fcl::detail::coneHalfspaceIntersect	(	const Cone< double > &	s1,
		const Transform3< double > &	tf1,
		const Halfspace< double > &	s2,
		const Transform3< double > &	tf2,
		std::vector< ContactPoint< double >> *	contacts
	)

coneHalfspaceIntersect() [2/3]

template<typename S >

FCL_EXPORT bool fcl::detail::coneHalfspaceIntersect	(	const Cone< S > &	s1,
		const Transform3< S > &	tf1,
		const Halfspace< S > &	s2,
		const Transform3< S > &	tf2,
		std::vector< ContactPoint< S >> *	contacts
	)

Definition at line 432 of file narrowphase/detail/primitive_shape_algorithm/halfspace-inl.h.

coneHalfspaceIntersect() [3/3]

template<typename S >

bool fcl::detail::coneHalfspaceIntersect	(	const Cone< S > &	s1,
		const Transform3< S > &	tf1,
		const Halfspace< S > &	s2,
		const Transform3< S > &	tf2,
		std::vector< ContactPoint< S >> *	contacts
	)

Definition at line 432 of file narrowphase/detail/primitive_shape_algorithm/halfspace-inl.h.

conePlaneIntersect() [1/3]

template bool fcl::detail::conePlaneIntersect	(	const Cone< double > &	s1,
		const Transform3< double > &	tf1,
		const Plane< double > &	s2,
		const Transform3< double > &	tf2,
		std::vector< ContactPoint< double >> *	contacts
	)

conePlaneIntersect() [2/3]

template<typename S >

FCL_EXPORT bool fcl::detail::conePlaneIntersect	(	const Cone< S > &	s1,
		const Transform3< S > &	tf1,
		const Plane< S > &	s2,
		const Transform3< S > &	tf2,
		std::vector< ContactPoint< S >> *	contacts
	)

Definition at line 519 of file narrowphase/detail/primitive_shape_algorithm/plane-inl.h.

conePlaneIntersect() [3/3]

template<typename S >

bool fcl::detail::conePlaneIntersect	(	const Cone< S > &	s1,
		const Transform3< S > &	tf1,
		const Plane< S > &	s2,
		const Transform3< S > &	tf2,
		std::vector< ContactPoint< S >> *	contacts
	)

Definition at line 519 of file narrowphase/detail/primitive_shape_algorithm/plane-inl.h.

coneToGJK()

template<typename S >

static void fcl::detail::coneToGJK ( const Cone< S > &  s, const Transform3< S > &  tf, ccd_cone_t *  cone  )

static

Definition at line 2305 of file gjk_libccd-inl.h.

conservativeAdvancement() [1/8]

template<typename BV >

bool fcl::detail::conservativeAdvancement	(	const BVHModel< BV > &	o1,
		const MotionBase< typename BV::S > *	motion1,
		const BVHModel< BV > &	o2,
		const MotionBase< typename BV::S > *	motion2,
		const CollisionRequest< typename BV::S > &	request,
		CollisionResult< typename BV::S > &	result,
		typename BV::S &	toc
	)

Definition at line 75 of file conservative_advancement_func_matrix-inl.h.

conservativeAdvancement() [2/8]

template<typename BV , typename Shape , typename NarrowPhaseSolver >

bool fcl::detail::conservativeAdvancement	(	const BVHModel< BV > &	o1,
		const MotionBase< typename BV::S > *	motion1,
		const Shape &	o2,
		const MotionBase< typename BV::S > *	motion2,
		const NarrowPhaseSolver *	nsolver,
		const CollisionRequest< typename BV::S > &	request,
		CollisionResult< typename BV::S > &	result,
		typename BV::S &	toc
	)

Definition at line 291 of file conservative_advancement_func_matrix-inl.h.

conservativeAdvancement() [3/8]

template<typename Shape , typename NarrowPhaseSolver >

bool fcl::detail::conservativeAdvancement	(	const BVHModel< OBBRSS< typename Shape::S >> &	o1,
		const MotionBase< typename Shape::S > *	motion1,
		const Shape &	o2,
		const MotionBase< typename Shape::S > *	motion2,
		const NarrowPhaseSolver *	nsolver,
		const CollisionRequest< typename Shape::S > &	request,
		CollisionResult< typename Shape::S > &	result,
		typename Shape::S &	toc
	)

Definition at line 444 of file conservative_advancement_func_matrix-inl.h.

conservativeAdvancement() [4/8]

template<typename Shape , typename NarrowPhaseSolver >

bool fcl::detail::conservativeAdvancement	(	const BVHModel< RSS< typename Shape::S >> &	o1,
		const MotionBase< typename Shape::S > *	motion1,
		const Shape &	o2,
		const MotionBase< typename Shape::S > *	motion2,
		const NarrowPhaseSolver *	nsolver,
		const CollisionRequest< typename Shape::S > &	request,
		CollisionResult< typename Shape::S > &	result,
		typename Shape::S &	toc
	)

Definition at line 429 of file conservative_advancement_func_matrix-inl.h.

conservativeAdvancement() [5/8]

template<typename Shape , typename BV , typename NarrowPhaseSolver >

bool fcl::detail::conservativeAdvancement	(	const Shape &	o1,
		const MotionBase< typename BV::S > *	motion1,
		const BVHModel< BV > &	o2,
		const MotionBase< typename BV::S > *	motion2,
		const NarrowPhaseSolver *	nsolver,
		const CollisionRequest< typename BV::S > &	request,
		CollisionResult< typename BV::S > &	result,
		typename BV::S &	toc
	)

Definition at line 459 of file conservative_advancement_func_matrix-inl.h.

conservativeAdvancement() [6/8]

template<typename Shape , typename NarrowPhaseSolver >

bool fcl::detail::conservativeAdvancement	(	const Shape &	o1,
		const MotionBase< typename Shape::S > *	motion1,
		const BVHModel< OBBRSS< typename Shape::S >> &	o2,
		const MotionBase< typename Shape::S > *	motion2,
		const NarrowPhaseSolver *	nsolver,
		const CollisionRequest< typename Shape::S > &	request,
		CollisionResult< typename Shape::S > &	result,
		typename Shape::S &	toc
	)

Definition at line 642 of file conservative_advancement_func_matrix-inl.h.

conservativeAdvancement() [7/8]

template<typename Shape , typename NarrowPhaseSolver >

bool fcl::detail::conservativeAdvancement	(	const Shape &	o1,
		const MotionBase< typename Shape::S > *	motion1,
		const BVHModel< RSS< typename Shape::S >> &	o2,
		const MotionBase< typename Shape::S > *	motion2,
		const NarrowPhaseSolver *	nsolver,
		const CollisionRequest< typename Shape::S > &	request,
		CollisionResult< typename Shape::S > &	result,
		typename Shape::S &	toc
	)

Definition at line 627 of file conservative_advancement_func_matrix-inl.h.

conservativeAdvancement() [8/8]

template<typename Shape1 , typename Shape2 , typename NarrowPhaseSolver >

bool fcl::detail::conservativeAdvancement	(	const Shape1 &	o1,
		const MotionBase< typename Shape1::S > *	motion1,
		const Shape2 &	o2,
		const MotionBase< typename Shape1::S > *	motion2,
		const NarrowPhaseSolver *	solver,
		const CollisionRequest< typename Shape1::S > &	request,
		CollisionResult< typename Shape1::S > &	result,
		typename Shape1::S &	toc
	)

Definition at line 222 of file conservative_advancement_func_matrix-inl.h.

conservativeAdvancementMeshOriented()

template<typename BV , typename ConservativeAdvancementOrientedNode >

bool fcl::detail::conservativeAdvancementMeshOriented	(	const BVHModel< BV > &	o1,
		const MotionBase< typename BV::S > *	motion1,
		const BVHModel< BV > &	o2,
		const MotionBase< typename BV::S > *	motion2,
		const CollisionRequest< typename BV::S > &	request,
		CollisionResult< typename BV::S > &	result,
		typename BV::S &	toc
	)

Definition at line 150 of file conservative_advancement_func_matrix-inl.h.

conservativeAdvancementMeshShapeOriented()

template<typename BV , typename Shape , typename NarrowPhaseSolver , typename ConservativeAdvancementOrientedNode >

bool fcl::detail::conservativeAdvancementMeshShapeOriented	(	const BVHModel< BV > &	o1,
		const MotionBase< typename BV::S > *	motion1,
		const Shape &	o2,
		const MotionBase< typename BV::S > *	motion2,
		const NarrowPhaseSolver *	nsolver,
		const CollisionRequest< typename BV::S > &	request,
		CollisionResult< typename BV::S > &	result,
		typename BV::S &	toc
	)

Definition at line 361 of file conservative_advancement_func_matrix-inl.h.

conservativeAdvancementShapeMeshOriented()

template<typename Shape , typename BV , typename NarrowPhaseSolver , typename ConservativeAdvancementOrientedNode >

bool fcl::detail::conservativeAdvancementShapeMeshOriented	(	const Shape &	o1,
		const MotionBase< typename BV::S > *	motion1,
		const BVHModel< BV > &	o2,
		const MotionBase< typename BV::S > *	motion2,
		const NarrowPhaseSolver *	nsolver,
		const CollisionRequest< typename BV::S > &	request,
		CollisionResult< typename BV::S > &	result,
		typename BV::S &	toc
	)

Definition at line 529 of file conservative_advancement_func_matrix-inl.h.

continuousCollideBVHPolynomial()

template<typename BV >

FCL_EXPORT BV::S fcl::detail::continuousCollideBVHPolynomial	(	const CollisionGeometry< typename BV::S > *	o1_,
		const TranslationMotion< typename BV::S > *	motion1,
		const CollisionGeometry< typename BV::S > *	o2_,
		const TranslationMotion< typename BV::S > *	motion2,
		const ContinuousCollisionRequest< typename BV::S > &	request,
		ContinuousCollisionResult< typename BV::S > &	result
	)

Definition at line 179 of file continuous_collision-inl.h.

continuousCollideConservativeAdvancement()

template<typename NarrowPhaseSolver >

FCL_EXPORT NarrowPhaseSolver::S fcl::detail::continuousCollideConservativeAdvancement	(	const CollisionGeometry< typename NarrowPhaseSolver::S > *	o1,
		const MotionBase< typename NarrowPhaseSolver::S > *	motion1,
		const CollisionGeometry< typename NarrowPhaseSolver::S > *	o2,
		const MotionBase< typename NarrowPhaseSolver::S > *	motion2,
		const NarrowPhaseSolver *	nsolver_,
		const ContinuousCollisionRequest< typename NarrowPhaseSolver::S > &	request,
		ContinuousCollisionResult< typename NarrowPhaseSolver::S > &	result
	)

Definition at line 305 of file continuous_collision-inl.h.

convexHalfspaceIntersect() [1/6]

template bool fcl::detail::convexHalfspaceIntersect	(	const Convex< double > &	convex_C,
		const Transform3< double > &	X_FC,
		const Halfspace< double > &	half_space_H,
		const Transform3< double > &	X_FH,
		std::vector< ContactPoint< double >> *	contacts
	)

convexHalfspaceIntersect() [2/6]

template bool fcl::detail::convexHalfspaceIntersect	(	const Convex< double > &	s1,
		const Transform3< double > &	tf1,
		const Halfspace< double > &	s2,
		const Transform3< double > &	tf2,
		Vector3< double > *	contact_points,
		double *	penetration_depth,
		Vector3< double > *	normal
	)

convexHalfspaceIntersect() [3/6]

template<typename S >

FCL_EXPORT bool fcl::detail::convexHalfspaceIntersect	(	const Convex< S > &	convex_C,
		const Transform3< S > &	X_FC,
		const Halfspace< S > &	half_space_H,
		const Transform3< S > &	X_FH,
		std::vector< ContactPoint< S >> *	contacts
	)

Reports whether a convex mesh and half space are intersecting. If contacts is not nullptr and the two geometries are intersecting, a new ContactPoint will be added to the data.

The two geometries are considered to be free of intersection if and only if all points in the Convex mesh lie strictly outside the half space. Lying on the boundary of the half space is considered intersecting.

The two geometries are each defined in their own frames, but we have transforms to a common frame F.

If the two geometries are intersecting and contacts is not nullptr, the new ContactPoint.normal will point in the opposite direction as the half space normal (expressed in Frame F) – it points into the half space. We define the point P to be a point of convex_C that most deeply penetrates into the half space. It is not guaranteed to be unique. If it is not unique, it will be arbitrarily selected from the set of all such points. The ContactPoint.penetration_depth value is the depth of P. ContactPoint.pos is defined as the point halfway between P and the nearest point on the boundary of the half space, measured and expressed in F.

ContactPoint is documented to report contact position in the world frame W. This function will only truly satisfy that requirement if F = W. It is the responsibility of the caller to understand the semantics of F and confirm that it satisfies that requirement.

This makes use of the Drake monogram notation to describe quantities (particularly the poses of shapes).

Parameters

	convex_C	The convex mesh. Its vertex positions are measured and expressed in Frame C.
	X_FC	The transform relating Frame C with the common frame F.
	half_space_H	The half space. The position and orientation of its boundary plane are measured and expressed in Frame H.
	X_FH	The transform relating Frame H with the common frame F.
[out]	contacts	The optional accumulator for data characterizing the intersection.

Returns

true if the two geometries are intersecting.

Template Parameters

S	The computational scalar.

Definition at line 546 of file narrowphase/detail/primitive_shape_algorithm/halfspace-inl.h.

convexHalfspaceIntersect() [4/6]

template<typename S >

bool fcl::detail::convexHalfspaceIntersect	(	const Convex< S > &	convex_C,
		const Transform3< S > &	X_FC,
		const Halfspace< S > &	half_space_H,
		const Transform3< S > &	X_FH,
		std::vector< ContactPoint< S >> *	contacts
	)

Reports whether a convex mesh and half space are intersecting. If contacts is not nullptr and the two geometries are intersecting, a new ContactPoint will be added to the data.

The two geometries are considered to be free of intersection if and only if all points in the Convex mesh lie strictly outside the half space. Lying on the boundary of the half space is considered intersecting.

The two geometries are each defined in their own frames, but we have transforms to a common frame F.

If the two geometries are intersecting and contacts is not nullptr, the new ContactPoint.normal will point in the opposite direction as the half space normal (expressed in Frame F) – it points into the half space. We define the point P to be a point of convex_C that most deeply penetrates into the half space. It is not guaranteed to be unique. If it is not unique, it will be arbitrarily selected from the set of all such points. The ContactPoint.penetration_depth value is the depth of P. ContactPoint.pos is defined as the point halfway between P and the nearest point on the boundary of the half space, measured and expressed in F.

ContactPoint is documented to report contact position in the world frame W. This function will only truly satisfy that requirement if F = W. It is the responsibility of the caller to understand the semantics of F and confirm that it satisfies that requirement.

This makes use of the Drake monogram notation to describe quantities (particularly the poses of shapes).

Parameters

	convex_C	The convex mesh. Its vertex positions are measured and expressed in Frame C.
	X_FC	The transform relating Frame C with the common frame F.
	half_space_H	The half space. The position and orientation of its boundary plane are measured and expressed in Frame H.
	X_FH	The transform relating Frame H with the common frame F.
[out]	contacts	The optional accumulator for data characterizing the intersection.

Returns

true if the two geometries are intersecting.

Template Parameters

S	The computational scalar.

Definition at line 546 of file narrowphase/detail/primitive_shape_algorithm/halfspace-inl.h.

convexHalfspaceIntersect() [5/6]

template<typename S >

FCL_EXPORT bool fcl::detail::convexHalfspaceIntersect	(	const Convex< S > &	s1,
		const Transform3< S > &	tf1,
		const Halfspace< S > &	s2,
		const Transform3< S > &	tf2,
		Vector3< S > *	contact_points,
		S *	penetration_depth,
		Vector3< S > *	normal
	)

Definition at line 501 of file narrowphase/detail/primitive_shape_algorithm/halfspace-inl.h.

convexHalfspaceIntersect() [6/6]

template<typename S >

bool fcl::detail::convexHalfspaceIntersect	(	const Convex< S > &	s1,
		const Transform3< S > &	tf1,
		const Halfspace< S > &	s2,
		const Transform3< S > &	tf2,
		Vector3< S > *	contact_points,
		S *	penetration_depth,
		Vector3< S > *	normal
	)

Definition at line 501 of file narrowphase/detail/primitive_shape_algorithm/halfspace-inl.h.

convexPlaneIntersect() [1/3]

template bool fcl::detail::convexPlaneIntersect	(	const Convex< double > &	s1,
		const Transform3< double > &	tf1,
		const Plane< double > &	s2,
		const Transform3< double > &	tf2,
		Vector3< double > *	contact_points,
		double *	penetration_depth,
		Vector3< double > *	normal
	)

convexPlaneIntersect() [2/3]

template<typename S >

FCL_EXPORT bool fcl::detail::convexPlaneIntersect	(	const Convex< S > &	s1,
		const Transform3< S > &	tf1,
		const Plane< S > &	s2,
		const Transform3< S > &	tf2,
		Vector3< S > *	contact_points,
		S *	penetration_depth,
		Vector3< S > *	normal
	)

Definition at line 642 of file narrowphase/detail/primitive_shape_algorithm/plane-inl.h.

convexPlaneIntersect() [3/3]

template<typename S >

bool fcl::detail::convexPlaneIntersect	(	const Convex< S > &	s1,
		const Transform3< S > &	tf1,
		const Plane< S > &	s2,
		const Transform3< S > &	tf2,
		Vector3< S > *	contact_points,
		S *	penetration_depth,
		Vector3< S > *	normal
	)

Definition at line 642 of file narrowphase/detail/primitive_shape_algorithm/plane-inl.h.

convexToGJK()

template<typename S >

static void fcl::detail::convexToGJK ( const Convex< S > &  s, const Transform3< S > &  tf, ccd_convex_t< S > *  conv  )

static

Definition at line 2332 of file gjk_libccd-inl.h.

cullPoints2() [1/3]

template void fcl::detail::cullPoints2	(	int	n,
		double	p[],
		int	m,
		int	i0,
		int	iret[]
	)

cullPoints2() [2/3]

template<typename S >

FCL_EXPORT void fcl::detail::cullPoints2	(	int	n,
		S	p[],
		int	m,
		int	i0,
		int	iret[]
	)

Definition at line 173 of file box_box-inl.h.

cullPoints2() [3/3]

template<typename S >

void fcl::detail::cullPoints2	(	int	n,
		S	p[],
		int	m,
		int	i0,
		int	iret[]
	)

Definition at line 173 of file box_box-inl.h.

cylinderHalfspaceIntersect() [1/3]

template bool fcl::detail::cylinderHalfspaceIntersect	(	const Cylinder< double > &	s1,
		const Transform3< double > &	tf1,
		const Halfspace< double > &	s2,
		const Transform3< double > &	tf2,
		std::vector< ContactPoint< double >> *	contacts
	)

cylinderHalfspaceIntersect() [2/3]

template<typename S >

FCL_EXPORT bool fcl::detail::cylinderHalfspaceIntersect	(	const Cylinder< S > &	s1,
		const Transform3< S > &	tf1,
		const Halfspace< S > &	s2,
		const Transform3< S > &	tf2,
		std::vector< ContactPoint< S >> *	contacts
	)

Definition at line 368 of file narrowphase/detail/primitive_shape_algorithm/halfspace-inl.h.

cylinderHalfspaceIntersect() [3/3]

template<typename S >

bool fcl::detail::cylinderHalfspaceIntersect	(	const Cylinder< S > &	s1,
		const Transform3< S > &	tf1,
		const Halfspace< S > &	s2,
		const Transform3< S > &	tf2,
		std::vector< ContactPoint< S >> *	contacts
	)

Definition at line 368 of file narrowphase/detail/primitive_shape_algorithm/halfspace-inl.h.

cylinderPlaneIntersect() [1/6]

template bool fcl::detail::cylinderPlaneIntersect	(	const Cylinder< double > &	s1,
		const Transform3< double > &	tf1,
		const Plane< double > &	s2,
		const Transform3< double > &	tf2
	)

cylinderPlaneIntersect() [2/6]

template bool fcl::detail::cylinderPlaneIntersect	(	const Cylinder< double > &	s1,
		const Transform3< double > &	tf1,
		const Plane< double > &	s2,
		const Transform3< double > &	tf2,
		std::vector< ContactPoint< double >> *	contacts
	)

cylinderPlaneIntersect() [3/6]

template<typename S >

FCL_EXPORT bool fcl::detail::cylinderPlaneIntersect	(	const Cylinder< S > &	s1,
		const Transform3< S > &	tf1,
		const Plane< S > &	s2,
		const Transform3< S > &	tf2
	)

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 392 of file narrowphase/detail/primitive_shape_algorithm/plane-inl.h.

cylinderPlaneIntersect() [4/6]

template<typename S >

bool fcl::detail::cylinderPlaneIntersect	(	const Cylinder< S > &	s1,
		const Transform3< S > &	tf1,
		const Plane< S > &	s2,
		const Transform3< S > &	tf2
	)

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 392 of file narrowphase/detail/primitive_shape_algorithm/plane-inl.h.

cylinderPlaneIntersect() [5/6]

template<typename S >

FCL_EXPORT bool fcl::detail::cylinderPlaneIntersect	(	const Cylinder< S > &	s1,
		const Transform3< S > &	tf1,
		const Plane< S > &	s2,
		const Transform3< S > &	tf2,
		std::vector< ContactPoint< S >> *	contacts
	)

Definition at line 414 of file narrowphase/detail/primitive_shape_algorithm/plane-inl.h.

cylinderPlaneIntersect() [6/6]

template<typename S >

bool fcl::detail::cylinderPlaneIntersect	(	const Cylinder< S > &	s1,
		const Transform3< S > &	tf1,
		const Plane< S > &	s2,
		const Transform3< S > &	tf2,
		std::vector< ContactPoint< S >> *	contacts
	)

Definition at line 414 of file narrowphase/detail/primitive_shape_algorithm/plane-inl.h.

cylToGJK()

template<typename S >

static void fcl::detail::cylToGJK ( const Cylinder< S > &  s, const Transform3< S > &  tf, ccd_cyl_t *  cyl  )

static

Definition at line 2296 of file gjk_libccd-inl.h.

distance() [1/3]

template void fcl::detail::distance	(	DistanceTraversalNodeBase< double > *	node,
		BVHFrontList *	front_list,
		int	qsize
	)

distance() [2/3]

template<typename S >

void fcl::detail::distance	(	DistanceTraversalNodeBase< S > *	node,
		BVHFrontList *	front_list,
		int	qsize
	)

distance computation on distance traversal node; can use front list to accelerate

Definition at line 137 of file collision_node-inl.h.

distance() [3/3]

template<typename S >

FCL_EXPORT void fcl::detail::distance	(	DistanceTraversalNodeBase< S > *	node,
		BVHFrontList *	front_list = nullptr,
		int	qsize = 2
	)

distance computation on distance traversal node; can use front list to accelerate

Definition at line 137 of file collision_node-inl.h.

distancePostprocessOrientedNode() [1/2]

template<typename BV >

FCL_EXPORT void fcl::detail::distancePostprocessOrientedNode	(	const BVHModel< BV > *	model1,
		const BVHModel< BV > *	model2,
		const Transform3< typename BV::S > &	tf1,
		const DistanceRequest< typename BV::S > &	request,
		DistanceResult< typename BV::S > &	result
	)

the points obtained by triDistance are not in world space: both are in object1's local coordinate system, so we need to convert them into the world space.

Definition at line 590 of file mesh_distance_traversal_node-inl.h.

distancePostprocessOrientedNode() [2/2]

template<typename BV >

void fcl::detail::distancePostprocessOrientedNode	(	const BVHModel< BV > *	model1,
		const BVHModel< BV > *	model2,
		const Transform3< typename BV::S > &	tf1,
		const DistanceRequest< typename BV::S > &	request,
		DistanceResult< typename BV::S > &	result
	)

the points obtained by triDistance are not in world space: both are in object1's local coordinate system, so we need to convert them into the world space.

Definition at line 590 of file mesh_distance_traversal_node-inl.h.

distancePreprocessOrientedNode() [1/5]

template<typename BV >

FCL_EXPORT void fcl::detail::distancePreprocessOrientedNode	(	const BVHModel< BV > *	model1,
		const BVHModel< BV > *	model2,
		const Vector3< typename BV::S > *	vertices1,
		Vector3< typename BV::S > *	vertices2,
		Triangle *	tri_indices1,
		Triangle *	tri_indices2,
		int	init_tri_id1,
		int	init_tri_id2,
		const Matrix3< typename BV::S > &	R,
		const Vector3< typename BV::S > &	T,
		const DistanceRequest< typename BV::S > &	request,
		DistanceResult< typename BV::S > &	result
	)

Definition at line 503 of file mesh_distance_traversal_node-inl.h.

distancePreprocessOrientedNode() [2/5]

template<typename BV >

void fcl::detail::distancePreprocessOrientedNode	(	const BVHModel< BV > *	model1,
		const BVHModel< BV > *	model2,
		const Vector3< typename BV::S > *	vertices1,
		Vector3< typename BV::S > *	vertices2,
		Triangle *	tri_indices1,
		Triangle *	tri_indices2,
		int	init_tri_id1,
		int	init_tri_id2,
		const Matrix3< typename BV::S > &	R,
		const Vector3< typename BV::S > &	T,
		const DistanceRequest< typename BV::S > &	request,
		DistanceResult< typename BV::S > &	result
	)

Definition at line 503 of file mesh_distance_traversal_node-inl.h.

distancePreprocessOrientedNode() [3/5]

template<typename BV >

FCL_EXPORT void fcl::detail::distancePreprocessOrientedNode	(	const BVHModel< BV > *	model1,
		const BVHModel< BV > *	model2,
		const Vector3< typename BV::S > *	vertices1,
		Vector3< typename BV::S > *	vertices2,
		Triangle *	tri_indices1,
		Triangle *	tri_indices2,
		int	init_tri_id1,
		int	init_tri_id2,
		const Transform3< typename BV::S > &	tf,
		const DistanceRequest< typename BV::S > &	request,
		DistanceResult< typename BV::S > &	result
	)

Definition at line 546 of file mesh_distance_traversal_node-inl.h.

distancePreprocessOrientedNode() [4/5]

template<typename BV >

void fcl::detail::distancePreprocessOrientedNode	(	const BVHModel< BV > *	model1,
		const BVHModel< BV > *	model2,
		const Vector3< typename BV::S > *	vertices1,
		Vector3< typename BV::S > *	vertices2,
		Triangle *	tri_indices1,
		Triangle *	tri_indices2,
		int	init_tri_id1,
		int	init_tri_id2,
		const Transform3< typename BV::S > &	tf,
		const DistanceRequest< typename BV::S > &	request,
		DistanceResult< typename BV::S > &	result
	)

Definition at line 546 of file mesh_distance_traversal_node-inl.h.

distancePreprocessOrientedNode() [5/5]

template<typename BV , typename Shape , typename NarrowPhaseSolver >

void fcl::detail::distancePreprocessOrientedNode	(	const BVHModel< BV > *	model1,
		Vector3< typename BV::S > *	vertices,
		Triangle *	tri_indices,
		int	init_tri_id,
		const Shape &	model2,
		const Transform3< typename BV::S > &	tf1,
		const Transform3< typename BV::S > &	tf2,
		const NarrowPhaseSolver *	nsolver,
		const DistanceRequest< typename BV::S > &	,
		DistanceResult< typename BV::S > &	result
	)

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

distanceQueueRecurse() [1/2]

template void fcl::detail::distanceQueueRecurse	(	DistanceTraversalNodeBase< double > *	node,
		int	b1,
		int	b2,
		BVHFrontList *	front_list,
		int	qsize
	)

distanceQueueRecurse() [2/2]

template<typename S >

FCL_EXPORT void fcl::detail::distanceQueueRecurse	(	DistanceTraversalNodeBase< S > *	node,
		int	b1,
		int	b2,
		BVHFrontList *	front_list,
		int	qsize
	)

Recurse function for distance, using queue acceleration.

Definition at line 386 of file traversal_recurse-inl.h.

distanceRecurse() [1/2]

template void fcl::detail::distanceRecurse	(	DistanceTraversalNodeBase< double > *	node,
		int	b1,
		int	b2,
		BVHFrontList *	front_list
	)

distanceRecurse() [2/2]

template<typename S >

FCL_EXPORT void fcl::detail::distanceRecurse	(	DistanceTraversalNodeBase< S > *	node,
		int	b1,
		int	b2,
		BVHFrontList *	front_list
	)

Recurse function for distance.

Definition at line 259 of file traversal_recurse-inl.h.

EdgeMatch()

bool fcl::detail::EdgeMatch	(	const ccd_pt_edge_t *	e1,
		const ccd_pt_edge_t *	e2,
		const std::unordered_map< ccd_pt_vertex_t *, ccd_pt_vertex_t * > &	map_v1_to_v2
	)

Definition at line 826 of file test_gjk_libccd-inl_epa.cpp.

eigen_to_ccd()

ccd_vec3_t fcl::detail::eigen_to_ccd

(

const Vector3d &

vector

)

Definition at line 52 of file test_gjk_libccd-inl_extractClosestPoints.cpp.

ellipsoidHalfspaceIntersect() [1/3]

template bool fcl::detail::ellipsoidHalfspaceIntersect	(	const Ellipsoid< double > &	s1,
		const Transform3< double > &	tf1,
		const Halfspace< double > &	s2,
		const Transform3< double > &	tf2,
		std::vector< ContactPoint< double >> *	contacts
	)

ellipsoidHalfspaceIntersect() [2/3]

template<typename S >

FCL_EXPORT bool fcl::detail::ellipsoidHalfspaceIntersect	(	const Ellipsoid< S > &	s1,
		const Transform3< S > &	tf1,
		const Halfspace< S > &	s2,
		const Transform3< S > &	tf2,
		std::vector< ContactPoint< S >> *	contacts
	)

Definition at line 184 of file narrowphase/detail/primitive_shape_algorithm/halfspace-inl.h.

ellipsoidHalfspaceIntersect() [3/3]

template<typename S >

bool fcl::detail::ellipsoidHalfspaceIntersect	(	const Ellipsoid< S > &	s1,
		const Transform3< S > &	tf1,
		const Halfspace< S > &	s2,
		const Transform3< S > &	tf2,
		std::vector< ContactPoint< S >> *	contacts
	)

Definition at line 184 of file narrowphase/detail/primitive_shape_algorithm/halfspace-inl.h.

ellipsoidPlaneIntersect() [1/3]

template bool fcl::detail::ellipsoidPlaneIntersect	(	const Ellipsoid< double > &	s1,
		const Transform3< double > &	tf1,
		const Plane< double > &	s2,
		const Transform3< double > &	tf2,
		std::vector< ContactPoint< double >> *	contacts
	)

ellipsoidPlaneIntersect() [2/3]

template<typename S >

FCL_EXPORT bool fcl::detail::ellipsoidPlaneIntersect	(	const Ellipsoid< S > &	s1,
		const Transform3< S > &	tf1,
		const Plane< S > &	s2,
		const Transform3< S > &	tf2,
		std::vector< ContactPoint< S >> *	contacts
	)

Definition at line 153 of file narrowphase/detail/primitive_shape_algorithm/plane-inl.h.

ellipsoidPlaneIntersect() [3/3]

template<typename S >

bool fcl::detail::ellipsoidPlaneIntersect	(	const Ellipsoid< S > &	s1,
		const Transform3< S > &	tf1,
		const Plane< S > &	s2,
		const Transform3< S > &	tf2,
		std::vector< ContactPoint< S >> *	contacts
	)

Definition at line 153 of file narrowphase/detail/primitive_shape_algorithm/plane-inl.h.

ellipsoidToGJK()

template<typename S >

static void fcl::detail::ellipsoidToGJK ( const Ellipsoid< S > &  s, const Transform3< S > &  tf, ccd_ellipsoid_t *  ellipsoid  )

static

Definition at line 2322 of file gjk_libccd-inl.h.

EquilateralTetrahedronVertices()

std::array<fcl::Vector3<ccd_real_t>, 4> fcl::detail::EquilateralTetrahedronVertices	(	ccd_real_t	bottom_center_x,
		ccd_real_t	bottom_center_y,
		ccd_real_t	bottom_center_z,
		ccd_real_t	edge_length
	)

Definition at line 127 of file test_gjk_libccd-inl_epa.cpp.

getBVAxis() [1/2]

template<typename S , typename BV >

const FCL_EXPORT Vector3<S> fcl::detail::getBVAxis	(	const BV &	bv,
		int	i
	)

Definition at line 485 of file mesh_conservative_advancement_traversal_node-inl.h.

getBVAxis() [2/2]

template<typename BV >

const Vector3<typename BV::S> fcl::detail::getBVAxis	(	const BV &	bv,
		int	i
	)

Definition at line 485 of file mesh_conservative_advancement_traversal_node-inl.h.

getExtentAndCenter_mesh() [1/2]

template<typename S >

FCL_EXPORT void fcl::detail::getExtentAndCenter_mesh	(	const Vector3< S > *const	ps,
		const Vector3< S > *const	ps2,
		Triangle *	ts,
		unsigned int *	indices,
		int	n,
		const Matrix3< S > &	axis,
		Vector3< S > &	center,
		Vector3< S > &	extent
	)

Compute the bounding volume extent and center for a set or subset of points. The bounding volume axes are known.

Definition at line 294 of file geometry-inl.h.

getExtentAndCenter_mesh() [2/2]

template void fcl::detail::getExtentAndCenter_mesh	(	const Vector3d *const	ps,
		const Vector3d *const	ps2,
		Triangle *	ts,
		unsigned int *	indices,
		int	n,
		const Matrix3d &	axis,
		Vector3d &	center,
		Vector3d &	extent
	)

getExtentAndCenter_pointcloud() [1/2]

template<typename S >

FCL_EXPORT void fcl::detail::getExtentAndCenter_pointcloud	(	const Vector3< S > *const	ps,
		const Vector3< S > *const	ps2,
		unsigned int *	indices,
		int	n,