Class List

Here are the classes, structs, unions and interfaces with brief descriptions:

[detail level 1234]

►Nboost
►Nserialization
►Ninternal
CBVHModelAccessor
CBVHModelBaseAccessor
CBVSplitterAccessor
CConvexAccessor
CConvexBaseAccessor
CHeightFieldAccessor
CKDOPAccessor
COcTreeAccessor
►Ncoal	Main namespace
►Ndetail
►Nimplementation_array
CHierarchyTree	Class for hierarchy tree structure
CNodeBase
CnodeBaseLess	Functor comparing two nodes
CSelectImpl
CSelectImpl< S, AABB >
CHierarchyTree	Class for hierarchy tree structure
CIntervalTree	Interval tree
CIntervalTreeNode	The node for interval tree
Cit_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
CNodeBase	Dynamic AABB tree node
CSelectImpl
CSelectImpl< S, AABB >
CSimpleHashTable	A simple hash table implemented as multiple buckets. HashFnc is any extended hash function: HashFnc(key) = {index1, index2, ..., }
CSimpleInterval	Interval trees implemented using red-black-trees as described in the book Introduction_To_Algorithms_ by Cormen, Leisserson, and Rivest
CSparseHashTable	A hash table implemented using unordered_map
CSpatialHash	Spatial hash function: hash an AABB to a set of integer values
Cunordered_map_hash_table
CUpdateImpl
►Ndetails
►CEPA	Class for EPA algorithm
CSimplexFace
CSimplexFaceList	The simplex list of EPA is a linked list of faces. Note: EPA's linked list does not own any memory. The memory it refers to is contiguous and owned by a std::vector
CSimplexHorizon
►CGJK	Class for GJK algorithm
CSimplex	A simplex is a set of up to 4 vertices. Its rank is the number of vertices it contains
CSimplexV
CLargeConvex	Cast a ConvexBase to a LargeConvex to use the log version of getShapeSupport. This is much faster than the linear version of getShapeSupport when a ConvexBase has more than a few dozen of vertices
CMinkowskiDiff	Minkowski difference class of two shapes
CShapeSupportData	Stores temporary data for the computation of support points
CSmallConvex	See LargeConvex
CUpdateBoundingVolume
CUpdateBoundingVolume< AABB >
►Ninternal
CLoader
Cmemory_footprint_evaluator
Cmemory_footprint_evaluator<::coal::BVHModel< BV > >
CTriangleAndVertices
►Nserialization
►Ndetail
Ccast_register_initializer
Cinit_cast_register
Cregister_type
Cregister_type< CollisionGeometry >
CSerializer
CAABB	A class describing the AABB collision structure, which is a box in 3D space determined by two diagonal points
CBox	Center at zero point, axis aligned box
CBroadPhaseCollisionManager	Base class for broad phase collision. It helps to accelerate the collision/distance between N objects. Also support self collision, self distance and collision/distance with another M objects
CBroadPhaseContinuousCollisionManager	Base class for broad phase continuous collision. It helps to accelerate the continuous collision/distance between N objects. Also support self collision, self distance and collision/distance with another M objects
CBVFitter	The class for the default algorithm fitting a bounding volume to a set of points
CBVFitter< AABB >	Specification of BVFitter for AABB bounding volume
CBVFitter< kIOS >	Specification of BVFitter for kIOS bounding volume
CBVFitter< OBB >	Specification of BVFitter for OBB bounding volume
CBVFitter< OBBRSS >	Specification of BVFitter for OBBRSS bounding volume
CBVFitter< RSS >	Specification of BVFitter for RSS bounding volume
CBVFitterTpl	The class for the default algorithm fitting a bounding volume to a set of points
CBVHFrontNode	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
CBVHModel	A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh)
CBVHModelBase	A base class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh)
CBVNode	A class describing a bounding volume node. It includes the tree structure providing in BVNodeBase and also the geometry data provided in BV template parameter
CBVNodeBase	BVNodeBase encodes the tree structure for BVH
CBVSplitter	A class describing the split rule that splits each BV node
►CCachedMeshLoader
CKey
CValue
CCapsule	Capsule It is \( { x~\in~\mathbb{R}^3, d(x, AB) \leq radius } \) where \( d(x, AB) \) is the distance between the point x and the capsule segment AB, with \( A = (0,0,-halfLength), B = (0,0,halfLength) \)
CCollisionCallBackBase	Base callback class for collision queries. This class can be supersed by child classes to provide desired behaviors according to the application (e.g, only listing the potential CollisionObjects in collision)
CCollisionCallBackCollect	Collision callback to collect collision pairs potentially in contacts
CCollisionCallBackDefault	Default collision callback to check collision between collision objects
CCollisionData	Collision data stores the collision request and the result given by collision algorithm
CCollisionFunctionMatrix	Collision matrix stores the functions for collision between different types of objects and provides a uniform call interface
CCollisionGeometry	The geometry for the object for collision or distance computation
CCollisionObject	Object for collision or distance computation, contains the geometry and the transform information
CCollisionRequest	Request to the collision algorithm
CCollisionResult	Collision result
CComputeCollision	This class reduces the cost of identifying the geometry pair. This is mostly useful for repeated shape-shape queries
CComputeContactPatch	This class reduces the cost of identifying the geometry pair. This is usefull for repeated shape-shape queries
CComputeDistance
CComputeShapeShapeContactPatch	Shape-shape contact patch computation. Assumes that csolver and the ContactPatchResult have already been set up by the ContactPatchRequest
CComputeShapeShapeContactPatch< Halfspace, Halfspace >
CComputeShapeShapeContactPatch< Halfspace, OtherShapeType >
CComputeShapeShapeContactPatch< Halfspace, Plane >
CComputeShapeShapeContactPatch< OtherShapeType, Halfspace >
CComputeShapeShapeContactPatch< OtherShapeType, Plane >
CComputeShapeShapeContactPatch< Plane, Halfspace >
CComputeShapeShapeContactPatch< Plane, OtherShapeType >
CComputeShapeShapeContactPatch< Plane, Plane >
CCone	Cone The base of the cone is at \( z = - halfLength \) and the top is at \( z = halfLength \)
CContact	Contact information returned by collision
CContactPatch	This structure allows to encode contact patches. A contact patch is defined by a set of points belonging to a subset of a plane passing by p and supported by n, where n = Contact::normal and p = Contact::pos. If we denote by P this plane and by S1 and S2 the first and second shape of a collision pair, a contact patch is represented as a polytope which vertices all belong to P & S1 & S2, where & denotes the set-intersection. Since a contact patch is a subset of a plane supported by n, it has a preferred direction. In Coal, the Contact::normal points from S1 to S2. In the same way, a contact patch points by default from S1 to S2
CContactPatchFunctionMatrix	The contact patch matrix stores the functions for contact patches computation between different types of objects and provides a uniform call interface
CContactPatchRequest	Request for a contact patch computation
CContactPatchResult	Result for a contact patch computation
CContactPatchSolver	Solver to compute contact patches, i.e. the intersection between two contact surfaces projected onto the shapes' separating plane. Otherwise said, a contact patch is simply the intersection between two support sets: the support set of shape S1 in direction n and the support set of shape S2 in direction -n, where n is the contact normal (satisfying the optimality conditions of GJK/EPA)
CConvexBaseTpl	Base for convex polytope
CConvexBaseTplNeighbors
CConvexBaseTplSupportWarmStartPolytope
CConvexTpl	Convex polytope
CCPUTimes
CCylinder	Cylinder along Z axis. The cylinder is defined at its centroid
CDistanceCallBackBase	Base callback class for distance queries. This class can be supersed by child classes to provide desired behaviors according to the application (e.g, only listing the potential CollisionObjects in collision)
CDistanceCallBackDefault	Default distance callback to check collision between collision objects
CDistanceData	Distance data stores the distance request and the result given by distance algorithm
CDistanceFunctionMatrix	Distance matrix stores the functions for distance between different types of objects and provides a uniform call interface
CDistanceRequest	Request to the distance computation
CDistanceResult	Distance result
CDynamicAABBTreeArrayCollisionManager
CDynamicAABBTreeCollisionManager
CEllipsoid	Ellipsoid centered at point zero
CGJKSolver	Collision and distance solver based on the GJK and EPA algorithms. Originally, GJK and EPA were implemented in fcl which itself took inspiration from the code of the GJK in bullet. Since then, both GJK and EPA have been largely modified to be faster and more robust to numerical accuracy and edge cases
CHalfspace	Half Space: this is equivalent to the Plane in ODE. A Half space has a priviledged direction: the direction of the normal. The separation plane is defined as n * x = d; Points in the negative side of the separation plane (i.e. {x | n * x < d}) are inside the half space and points in the positive side of the separation plane (i.e. {x | n * x > d}) are outside the half space. Note: prefer using a Halfspace instead of a Plane if possible, it has better behavior w.r.t. collision detection algorithms
CHeightField	Data structure depicting a height field given by the base grid dimensions and the elevation along the grid
CHFNode
CHFNodeBase
►CIntervalTreeCollisionManager	Collision manager based on interval tree
CEndPoint	SAP end point
CSAPInterval	Extention interval tree's interval to SAP interval, adding more information
CKDOP	KDOP class describes the KDOP collision structures. K is set as the template parameter, which should be 16, 18, or 24 The KDOP structure is defined by some pairs of parallel planes defined by some axes. For K = 16, the planes are 6 AABB planes and 10 diagonal planes that cut off some space of the edges: (-1,0,0) and (1,0,0) -> indices 0 and 8 (0,-1,0) and (0,1,0) -> indices 1 and 9 (0,0,-1) and (0,0,1) -> indices 2 and 10 (-1,-1,0) and (1,1,0) -> indices 3 and 11 (-1,0,-1) and (1,0,1) -> indices 4 and 12 (0,-1,-1) and (0,1,1) -> indices 5 and 13 (-1,1,0) and (1,-1,0) -> indices 6 and 14 (-1,0,1) and (1,0,-1) -> indices 7 and 15 For K = 18, the planes are 6 AABB planes and 12 diagonal planes that cut off some space of the edges: (-1,0,0) and (1,0,0) -> indices 0 and 9 (0,-1,0) and (0,1,0) -> indices 1 and 10 (0,0,-1) and (0,0,1) -> indices 2 and 11 (-1,-1,0) and (1,1,0) -> indices 3 and 12 (-1,0,-1) and (1,0,1) -> indices 4 and 13 (0,-1,-1) and (0,1,1) -> indices 5 and 14 (-1,1,0) and (1,-1,0) -> indices 6 and 15 (-1,0,1) and (1,0,-1) -> indices 7 and 16 (0,-1,1) and (0,1,-1) -> indices 8 and 17 For K = 18, the planes are 6 AABB planes and 18 diagonal planes that cut off some space of the edges: (-1,0,0) and (1,0,0) -> indices 0 and 12 (0,-1,0) and (0,1,0) -> indices 1 and 13 (0,0,-1) and (0,0,1) -> indices 2 and 14 (-1,-1,0) and (1,1,0) -> indices 3 and 15 (-1,0,-1) and (1,0,1) -> indices 4 and 16 (0,-1,-1) and (0,1,1) -> indices 5 and 17 (-1,1,0) and (1,-1,0) -> indices 6 and 18 (-1,0,1) and (1,0,-1) -> indices 7 and 19 (0,-1,1) and (0,1,-1) -> indices 8 and 20 (-1, -1, 1) and (1, 1, -1) --> indices 9 and 21 (-1, 1, -1) and (1, -1, 1) --> indices 10 and 22 (1, -1, -1) and (-1, 1, 1) --> indices 11 and 23
CkIOS	A class describing the kIOS collision structure, which is a set of spheres
CMeshLoader
CNaiveCollisionManager	Brute force N-body collision manager
COBB	Oriented bounding box class
COBBRSS	Class merging the OBB and RSS, can handle collision and distance simultaneously
COcTree	Octree is one type of collision geometry which can encode uncertainty information in the sensor data
CPlane	Infinite plane. A plane can be viewed as two half spaces; it has no priviledged direction. Note: prefer using a Halfspace instead of a Plane if possible, it has better behavior w.r.t. collision detection algorithms
CQuadrilateralTpl	Quadrilateral with 4 indices for points
CQueryRequest	Base class for all query requests
CQueryResult	Base class for all query results
CRSS	A class for rectangle sphere-swept bounding volume
►CSaPCollisionManager	Rigorous SAP collision manager
CEndPoint	End point for an interval
CisNotValidPair	Functor to help remove collision pairs no longer valid (i.e., should be culled away)
CisUnregistered	Functor to help unregister one object
CSaPAABB	SAP interval for one object
CSaPPair	A pair of objects that are not culling away and should further check collision
Cshape_traits
Cshape_traits< Box >
Cshape_traits< Capsule >
Cshape_traits< Cone >
Cshape_traits< ConvexBaseTpl< IndexType > >
Cshape_traits< Cylinder >
Cshape_traits< Ellipsoid >
Cshape_traits< Halfspace >
Cshape_traits< Sphere >
Cshape_traits< TriangleP >
Cshape_traits_base
CShapeBase	Base class for all basic geometric shapes
CSpatialHashingCollisionManager	Spatial hashing collision mananger
CSphere	Center at zero point sphere
CSSaPCollisionManager	Simple SAP collision manager
CTimer	This class mimics the way "boost/timer/timer.hpp" operates while using the modern std::chrono library. Importantly, this class will only have an effect for C++11 and more
CTransform3s	Simple transform class used locally by InterpMotion
CTraversalTraitsCollision
CTraversalTraitsDistance
CTriangleP	Triangle stores the points instead of only indices of points
CTriangleTpl	Triangle with 3 indices for points