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class | coal::AABB |
| A class describing the AABB collision structure, which is a box in 3D space determined by two diagonal points. More...
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class | coal::KDOP< N > |
| 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. More...
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class | coal::kIOS |
| A class describing the kIOS collision structure, which is a set of spheres. More...
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struct | coal::OBB |
| Oriented bounding box class. More...
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struct | coal::OBBRSS |
| Class merging the OBB and RSS, can handle collision and distance simultaneously. More...
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struct | coal::RSS |
| A class for rectangle sphere-swept bounding volume. More...
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| coal::AABB::AABB () |
| Creating an AABB with zero size (low bound +inf, upper bound -inf) More...
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| coal::AABB::AABB (const Vec3s &v) |
| Creating an AABB at position v with zero size. More...
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| coal::AABB::AABB (const Vec3s &a, const Vec3s &b) |
| Creating an AABB with two endpoints a and b. More...
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| coal::AABB::AABB (const AABB &core, const Vec3s &delta) |
| Creating an AABB centered as core and is of half-dimension delta. More...
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| coal::AABB::AABB (const Vec3s &a, const Vec3s &b, const Vec3s &c) |
| Creating an AABB contains three points. More...
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| coal::AABB::AABB (const AABB &other)=default |
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AABB & | coal::AABB::operator= (const AABB &other)=default |
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AABB & | coal::AABB::update (const Vec3s &a, const Vec3s &b) |
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bool | coal::AABB::operator== (const AABB &other) const |
| Comparison operator. More...
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bool | coal::AABB::operator!= (const AABB &other) const |
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bool | coal::AABB::contain (const AABB &other) const |
| Check whether the AABB contains another AABB. More...
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bool | coal::AABB::overlap (const AABB &other, AABB &overlap_part) const |
| Check whether two AABB are overlap and return the overlap part. More...
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bool | coal::AABB::axisOverlap (const AABB &other, int axis_id) const |
| Check whether two AABB are overlapped along specific axis. More...
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AABB & | coal::AABB::expand (const Vec3s &delta) |
| expand the half size of the AABB by delta, and keep the center unchanged. More...
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AABB & | coal::AABB::expand (const Scalar delta) |
| expand the half size of the AABB by a scalar delta, and keep the center unchanged. More...
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AABB & | coal::AABB::expand (const AABB &core, Scalar ratio) |
| expand the aabb by increase the thickness of the plate by a ratio More...
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bool | coal::overlap (const Matrix3s &R0, const Vec3s &T0, const AABB &b1, const AABB &b2) |
| Check collision between two aabbs, b1 is in configuration (R0, T0) and b2 is in identity. More...
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bool | coal::overlap (const Matrix3s &R0, const Vec3s &T0, const AABB &b1, const AABB &b2, const CollisionRequest &request, Scalar &sqrDistLowerBound) |
| Check collision between two aabbs, b1 is in configuration (R0, T0) and b2 is in identity. More...
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW | coal::KDOP< N >::KDOP () |
| Creating kDOP containing nothing. More...
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| coal::KDOP< N >::KDOP (const Vec3s &v) |
| Creating kDOP containing only one point. More...
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| coal::KDOP< N >::KDOP (const Vec3s &a, const Vec3s &b) |
| Creating kDOP containing two points. More...
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bool | coal::KDOP< N >::operator== (const KDOP &other) const |
| Equality operator. More...
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bool | coal::KDOP< N >::operator!= (const KDOP &other) const |
| Difference operator. More...
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bool | coal::KDOP< N >::overlap (const KDOP< N > &other) const |
| Check whether two KDOPs overlap. More...
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bool | coal::KDOP< N >::overlap (const KDOP< N > &other, const CollisionRequest &request, Scalar &sqrDistLowerBound) const |
| Check whether two KDOPs overlap. More...
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Scalar | coal::KDOP< N >::distance (const KDOP< N > &other, Vec3s *P=NULL, Vec3s *Q=NULL) const |
| The distance between two KDOP<N>. Not implemented. More...
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KDOP< N > & | coal::KDOP< N >::operator+= (const Vec3s &p) |
| Merge the point and the KDOP. More...
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KDOP< N > & | coal::KDOP< N >::operator+= (const KDOP< N > &other) |
| Merge two KDOPs. More...
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KDOP< N > | coal::KDOP< N >::operator+ (const KDOP< N > &other) const |
| Create a KDOP by mergin two KDOPs. More...
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Scalar | coal::KDOP< N >::size () const |
| Size of the kDOP (used in BV_Splitter to order two kDOPs) More...
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Vec3s | coal::KDOP< N >::center () const |
| The (AABB) center. More...
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Scalar | coal::KDOP< N >::width () const |
| The (AABB) width. More...
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Scalar | coal::KDOP< N >::height () const |
| The (AABB) height. More...
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Scalar | coal::KDOP< N >::depth () const |
| The (AABB) depth. More...
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Scalar | coal::KDOP< N >::volume () const |
| The (AABB) volume. More...
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Scalar | coal::KDOP< N >::dist (short i) const |
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Scalar & | coal::KDOP< N >::dist (short i) |
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bool | coal::KDOP< N >::inside (const Vec3s &p) const |
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template<short N> |
bool | coal::overlap (const Matrix3s &, const Vec3s &, const KDOP< N > &, const KDOP< N > &) |
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template<short N> |
bool | coal::overlap (const Matrix3s &, const Vec3s &, const KDOP< N > &, const KDOP< N > &, const CollisionRequest &, Scalar &) |
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template<short N> |
KDOP< N > | coal::translate (const KDOP< N > &bv, const Vec3s &t) |
| translate the KDOP BV More...
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bool | coal::kIOS::kIOS_Sphere::operator== (const kIOS_Sphere &other) const |
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bool | coal::kIOS::kIOS_Sphere::operator!= (const kIOS_Sphere &other) const |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW bool | coal::kIOS::operator== (const kIOS &other) const |
| Equality operator. More...
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bool | coal::kIOS::operator!= (const kIOS &other) const |
| Difference operator. More...
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bool | coal::kIOS::contain (const Vec3s &p) const |
| Check whether the kIOS contains a point. More...
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bool | coal::kIOS::overlap (const kIOS &other) const |
| Check collision between two kIOS. More...
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bool | coal::kIOS::overlap (const kIOS &other, const CollisionRequest &, Scalar &sqrDistLowerBound) const |
| Check collision between two kIOS. More...
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Scalar | coal::kIOS::distance (const kIOS &other, Vec3s *P=NULL, Vec3s *Q=NULL) const |
| The distance between two kIOS. More...
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kIOS & | coal::kIOS::operator+= (const Vec3s &p) |
| A simple way to merge the kIOS and a point. More...
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kIOS & | coal::kIOS::operator+= (const kIOS &other) |
| Merge the kIOS and another kIOS. More...
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kIOS | coal::kIOS::operator+ (const kIOS &other) const |
| Return the merged kIOS of current kIOS and the other one. More...
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Scalar | coal::kIOS::size () const |
| size of the kIOS (used in BV_Splitter to order two kIOSs) More...
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const Vec3s & | coal::kIOS::center () const |
| Center of the kIOS. More...
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Scalar | coal::kIOS::width () const |
| Width of the kIOS. More...
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Scalar | coal::kIOS::height () const |
| Height of the kIOS. More...
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Scalar | coal::kIOS::depth () const |
| Depth of the kIOS. More...
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Scalar | coal::kIOS::volume () const |
| Volume of the kIOS. More...
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kIOS | coal::translate (const kIOS &bv, const Vec3s &t) |
| Translate the kIOS BV. More...
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bool | coal::overlap (const Matrix3s &R0, const Vec3s &T0, const kIOS &b1, const kIOS &b2) |
| Check collision between two kIOSs, b1 is in configuration (R0, T0) and b2 is in identity. More...
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bool | coal::overlap (const Matrix3s &R0, const Vec3s &T0, const kIOS &b1, const kIOS &b2, const CollisionRequest &request, Scalar &sqrDistLowerBound) |
| Check collision between two kIOSs, b1 is in configuration (R0, T0) and b2 is in identity. More...
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Scalar | coal::distance (const Matrix3s &R0, const Vec3s &T0, const kIOS &b1, const kIOS &b2, Vec3s *P=NULL, Vec3s *Q=NULL) |
| Approximate distance between two kIOS bounding volumes. More...
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| coal::OBB::OBB () |
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bool | coal::OBB::operator== (const OBB &other) const |
| Equality operator. More...
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bool | coal::OBB::operator!= (const OBB &other) const |
| Difference operator. More...
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bool | coal::OBB::contain (const Vec3s &p) const |
| Check whether the OBB contains a point. More...
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bool | coal::OBB::overlap (const OBB &other) const |
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bool | coal::OBB::overlap (const OBB &other, const CollisionRequest &request, Scalar &sqrDistLowerBound) const |
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Scalar | coal::OBB::distance (const OBB &other, Vec3s *P=NULL, Vec3s *Q=NULL) const |
| Distance between two OBBs, not implemented. More...
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OBB & | coal::OBB::operator+= (const Vec3s &p) |
| A simple way to merge the OBB and a point (the result is not compact). More...
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OBB & | coal::OBB::operator+= (const OBB &other) |
| Merge the OBB and another OBB (the result is not compact). More...
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OBB | coal::OBB::operator+ (const OBB &other) const |
| Return the merged OBB of current OBB and the other one (the result is not compact). More...
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Scalar | coal::OBB::size () const |
| Size of the OBB (used in BV_Splitter to order two OBBs) More...
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const Vec3s & | coal::OBB::center () const |
| Center of the OBB. More...
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Scalar | coal::OBB::width () const |
| Width of the OBB. More...
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Scalar | coal::OBB::height () const |
| Height of the OBB. More...
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Scalar | coal::OBB::depth () const |
| Depth of the OBB. More...
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Scalar | coal::OBB::volume () const |
| Volume of the OBB. More...
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OBB | coal::translate (const OBB &bv, const Vec3s &t) |
| Translate the OBB bv. More...
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bool | coal::overlap (const Matrix3s &R0, const Vec3s &T0, const OBB &b1, const OBB &b2) |
| Check collision between two obbs, b1 is in configuration (R0, T0) and b2 is in identity. More...
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bool | coal::overlap (const Matrix3s &R0, const Vec3s &T0, const OBB &b1, const OBB &b2, const CollisionRequest &request, Scalar &sqrDistLowerBound) |
| Check collision between two obbs, b1 is in configuration (R0, T0) and b2 is in identity. More...
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bool | coal::obbDisjoint (const Matrix3s &B, const Vec3s &T, const Vec3s &a, const Vec3s &b) |
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bool | coal::OBBRSS::operator== (const OBBRSS &other) const |
| Equality operator. More...
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bool | coal::OBBRSS::operator!= (const OBBRSS &other) const |
| Difference operator. More...
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bool | coal::OBBRSS::contain (const Vec3s &p) const |
| Check whether the OBBRSS contains a point. More...
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bool | coal::OBBRSS::overlap (const OBBRSS &other) const |
| Check collision between two OBBRSS. More...
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bool | coal::OBBRSS::overlap (const OBBRSS &other, const CollisionRequest &request, Scalar &sqrDistLowerBound) const |
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Scalar | coal::OBBRSS::distance (const OBBRSS &other, Vec3s *P=NULL, Vec3s *Q=NULL) const |
| Distance between two OBBRSS; P and Q , is not NULL, returns the nearest points. More...
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OBBRSS & | coal::OBBRSS::operator+= (const Vec3s &p) |
| Merge the OBBRSS and a point. More...
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OBBRSS & | coal::OBBRSS::operator+= (const OBBRSS &other) |
| Merge two OBBRSS. More...
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OBBRSS | coal::OBBRSS::operator+ (const OBBRSS &other) const |
| Merge two OBBRSS. More...
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Scalar | coal::OBBRSS::size () const |
| Size of the OBBRSS (used in BV_Splitter to order two OBBRSS) More...
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const Vec3s & | coal::OBBRSS::center () const |
| Center of the OBBRSS. More...
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Scalar | coal::OBBRSS::width () const |
| Width of the OBRSS. More...
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Scalar | coal::OBBRSS::height () const |
| Height of the OBBRSS. More...
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Scalar | coal::OBBRSS::depth () const |
| Depth of the OBBRSS. More...
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Scalar | coal::OBBRSS::volume () const |
| Volume of the OBBRSS. More...
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bool | coal::overlap (const Matrix3s &R0, const Vec3s &T0, const OBBRSS &b1, const OBBRSS &b2) |
| Check collision between two OBBRSS, b1 is in configuration (R0, T0) and b2 is in indentity. More...
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bool | coal::overlap (const Matrix3s &R0, const Vec3s &T0, const OBBRSS &b1, const OBBRSS &b2, const CollisionRequest &request, Scalar &sqrDistLowerBound) |
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Scalar | coal::distance (const Matrix3s &R0, const Vec3s &T0, const OBBRSS &b1, const OBBRSS &b2, Vec3s *P=NULL, Vec3s *Q=NULL) |
| Computate distance between two OBBRSS, b1 is in configuation (R0, T0) and b2 is in indentity; P and Q, is not NULL, returns the nearest points. More...
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| coal::RSS::RSS () |
| More...
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bool | coal::RSS::operator== (const RSS &other) const |
| Equality operator. More...
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bool | coal::RSS::operator!= (const RSS &other) const |
| Difference operator. More...
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bool | coal::RSS::contain (const Vec3s &p) const |
| Check whether the RSS contains a point. More...
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bool | coal::RSS::overlap (const RSS &other) const |
| Check collision between two RSS. More...
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bool | coal::RSS::overlap (const RSS &other, const CollisionRequest &, Scalar &sqrDistLowerBound) const |
| Not implemented. More...
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Scalar | coal::RSS::distance (const RSS &other, Vec3s *P=NULL, Vec3s *Q=NULL) const |
| the distance between two RSS; P and Q, if not NULL, return the nearest points More...
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RSS & | coal::RSS::operator+= (const Vec3s &p) |
| A simple way to merge the RSS and a point, not compact. More...
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RSS & | coal::RSS::operator+= (const RSS &other) |
| Merge the RSS and another RSS. More...
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RSS | coal::RSS::operator+ (const RSS &other) const |
| Return the merged RSS of current RSS and the other one. More...
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Scalar | coal::RSS::size () const |
| Size of the RSS (used in BV_Splitter to order two RSSs) More...
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const Vec3s & | coal::RSS::center () const |
| The RSS center. More...
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Scalar | coal::RSS::width () const |
| Width of the RSS. More...
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Scalar | coal::RSS::height () const |
| Height of the RSS. More...
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Scalar | coal::RSS::depth () const |
| Depth of the RSS. More...
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Scalar | coal::RSS::volume () const |
| Volume of the RSS. More...
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bool | coal::RSS::overlap (const RSS &other, RSS &) const |
| Check collision between two RSS and return the overlap part. For RSS, we return nothing, as the overlap part of two RSSs usually is not a RSS. More...
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Scalar | coal::distance (const Matrix3s &R0, const Vec3s &T0, const RSS &b1, const RSS &b2, Vec3s *P=NULL, Vec3s *Q=NULL) |
| distance between two RSS bounding volumes P and Q (optional return values) are the closest points in the rectangles, not the RSS. But the direction P - Q is the correct direction for cloest points Notice that P and Q are both in the local frame of the first RSS (not global frame and not even the local frame of object 1) More...
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bool | coal::overlap (const Matrix3s &R0, const Vec3s &T0, const RSS &b1, const RSS &b2) |
| Check collision between two RSSs, b1 is in configuration (R0, T0) and b2 is in identity. More...
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bool | coal::overlap (const Matrix3s &R0, const Vec3s &T0, const RSS &b1, const RSS &b2, const CollisionRequest &request, Scalar &sqrDistLowerBound) |
| Check collision between two RSSs, b1 is in configuration (R0, T0) and b2 is in identity. More...
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Classes of different types of bounding volume.