Struct EPA

Defined in File gjk.h

Nested Relationships

Nested Types

Struct Documentation

struct EPA

class for EPA algorithm

Public Types

enum Status

Values:

enumerator Failed

enumerator Valid

enumerator AccuracyReached

enumerator Degenerated

enumerator NonConvex

enumerator InvalidHull

enumerator OutOfFaces

enumerator OutOfVertices

enumerator FallBack

typedef GJK::SimplexV SimplexV

Public Functions

inline EPA(unsigned int max_face_num_, unsigned int max_vertex_num_, unsigned int max_iterations_, FCL_REAL tolerance_)

inline ~EPA()

void initialize()

Status evaluate(GJK &gjk, const Vec3f &guess)

Returns:: a Status which can be demangled using (status & Valid) or (status & Failed). The other values provide a more detailled status

bool getClosestPoints(const MinkowskiDiff &shape, Vec3f &w0, Vec3f &w1)

Get the closest points on each object.

Returns:: true on success

Public Members

Status status

GJK::Simplex result

Vec3f normal

FCL_REAL depth

SimplexV *sv_store

SimplexF *fc_store

size_t nextsv

SimplexList hull

SimplexList stock

Public Static Functions

static inline void bind(SimplexF *fa, size_t ea, SimplexF *fb, size_t eb)

struct SimplexF

Public Functions

inline SimplexF()

Public Members

Vec3f n

FCL_REAL d

SimplexV *vertex[3]

SimplexF *f[3]

SimplexF *l[2]

size_t e[3]

size_t pass

struct SimplexHorizon

Public Functions

inline SimplexHorizon()

Public Members

SimplexF *cf

SimplexF *ff

size_t nf

struct SimplexList

Public Functions

inline SimplexList()

inline void append(SimplexF *face)

inline void remove(SimplexF *face)

Public Members

SimplexF *root

size_t count