Struct GJKSolver

Defined in File narrowphase.h

Struct Documentation

struct GJKSolver

collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the GJK in bullet)

Shape intersection specializations

template<> HPP_FCL_DLLAPI bool shapeIntersect (const Box &s1, const Transform3f &tf1, const Sphere &s2, const Transform3f &tf2, FCL_REAL &distance_lower_bound, bool enable_penetration, Vec3f *contact_points, Vec3f *normal) const

Public Types

typedef Eigen::Array<FCL_REAL, 1, 2> Array2d

Public Functions

template<typename S1, typename S2> inline void initialize_gjk(details::GJK &gjk, const details::MinkowskiDiff &shape, const S1 &s1, const S2 &s2, Vec3f &guess, support_func_guess_t &support_hint) const: initialize GJK

template<typename S1, typename S2> inline bool shapeIntersect(const S1 &s1, const Transform3f &tf1, const S2 &s2, const Transform3f &tf2, FCL_REAL &distance_lower_bound, bool enable_penetration, Vec3f *contact_points, Vec3f *normal) const: intersection checking between two shapes

template<typename S> inline bool shapeTriangleInteraction(const S &s, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal) const

intersection checking between one shape and a triangle with transformation

Returns:: true if the shape are colliding.

template<typename S1, typename S2> inline bool shapeDistance(const S1 &s1, const Transform3f &tf1, const S2 &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal) const: distance computation between two shapes

inline HPP_FCL_COMPILER_DIAGNOSTIC_PUSH HPP_FCL_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS GJKSolver (): Default constructor for GJK algorithm.

inline GJKSolver(const DistanceRequest &request)

Constructor from a DistanceRequest.

Parameters:: request – [in] DistanceRequest input

inline void set(const DistanceRequest &request)

setter from a DistanceRequest

Parameters:: request – [in] DistanceRequest input

inline GJKSolver(const CollisionRequest &request)

Constructor from a CollisionRequest.

Parameters:: request – [in] CollisionRequest input

inline void set(const CollisionRequest &request)

setter from a CollisionRequest

Parameters:: request – [in] CollisionRequest input

GJKSolver(const GJKSolver &other) = default: Copy constructor.

inline HPP_FCL_COMPILER_DIAGNOSTIC_PUSH HPP_FCL_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS bool operator== (const GJKSolver &other) const

inline HPP_FCL_COMPILER_DIAGNOSTIC_POP bool operator!= (const GJKSolver &other) const

template<> HPP_FCL_DLLAPI bool shapeTriangleInteraction (const Sphere &s, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal) const

template<> HPP_FCL_DLLAPI bool shapeTriangleInteraction (const Halfspace &s, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal) const

template<> HPP_FCL_DLLAPI bool shapeTriangleInteraction (const Plane &s, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal) const

Public Members

unsigned int epa_max_face_num: maximum number of simplex face used in EPA algorithm

unsigned int epa_max_vertex_num: maximum number of simplex vertex used in EPA algorithm

unsigned int epa_max_iterations: maximum number of iterations used for EPA iterations

FCL_REAL epa_tolerance: the threshold used in EPA to stop iteration

mutable FCL_REAL gjk_tolerance: the threshold used in GJK to stop iteration

mutable size_t gjk_max_iterations: maximum number of iterations used for GJK iterations

mutable bool enable_cached_guess: Whether smart guess can be provided @Deprecated Use gjk_initial_guess instead.

mutable Vec3f cached_guess: smart guess

mutable GJKInitialGuess gjk_initial_guess: which warm start to use for GJK

mutable GJKVariant gjk_variant: Variant to use for the GJK algorithm.

mutable GJKConvergenceCriterion gjk_convergence_criterion: Criterion used to stop GJK.

mutable GJKConvergenceCriterionType gjk_convergence_criterion_type: Relative or absolute.

mutable support_func_guess_t support_func_cached_guess: smart guess for the support function

mutable FCL_REAL distance_upper_bound: Distance above which the GJK solver stoppes its computations and processes to an early stopping. The two witness points are incorrect, but with the guaranty that the two shapes have a distance greather than distance_upper_bound.