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class | NaiveCollisionManager |
| Brute force N-body collision manager. More...
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struct | CollisionCallBackBase |
| 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). More...
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struct | DistanceCallBackBase |
| 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). More...
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class | BroadPhaseCollisionManager |
| 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. More...
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class | BroadPhaseContinuousCollisionManager |
| 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. More...
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class | DynamicAABBTreeCollisionManager |
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class | DynamicAABBTreeArrayCollisionManager |
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class | IntervalTreeCollisionManager |
| Collision manager based on interval tree. More...
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class | SaPCollisionManager |
| Rigorous SAP collision manager. More...
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class | SpatialHashingCollisionManager |
| spatial hashing collision mananger More...
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class | SSaPCollisionManager |
| Simple SAP collision manager. More...
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struct | CollisionData |
| Collision data stores the collision request and the result given by collision algorithm. More...
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struct | DistanceData |
| Distance data stores the distance request and the result given by distance algorithm. More...
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struct | CollisionCallBackDefault |
| Default collision callback to check collision between collision objects. More...
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struct | DistanceCallBackDefault |
| Default distance callback to check collision between collision objects. More...
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struct | CollisionCallBackCollect |
| Collision callback to collect collision pairs potentially in contacts. More...
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class | 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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struct | BVNodeBase |
| BVNodeBase encodes the tree structure for BVH. More...
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struct | BVNode |
| 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. More...
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class | KDOP |
| 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 | kIOS |
| A class describing the kIOS collision structure, which is a set of spheres. More...
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struct | OBB |
| Oriented bounding box class. More...
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struct | OBBRSS |
| Class merging the OBB and RSS, can handle collision and distance simultaneously. More...
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struct | RSS |
| A class for rectangle sphere-swept bounding volume. More...
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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...
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class | BVFitter |
| The class for the default algorithm fitting a bounding volume to a set of points. More...
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class | BVSplitter |
| A class describing the split rule that splits each BV node. More...
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class | BVHModelBase |
| 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) More...
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class | BVHModel |
| A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh) More...
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class | ComputeCollision |
| This class reduces the cost of identifying the geometry pair. This is mostly useful for repeated shape-shape queries. More...
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struct | Contact |
| Contact information returned by collision. More...
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struct | QueryRequest |
| base class for all query requests More...
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struct | QueryResult |
| base class for all query results More...
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struct | CollisionRequest |
| request to the collision algorithm More...
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struct | CollisionResult |
| collision result More...
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struct | ContactPatch |
| 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. More...
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struct | ContactPatchRequest |
| Request for a contact patch computation. More...
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struct | ContactPatchResult |
| Result for a contact patch computation. More...
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struct | DistanceRequest |
| request to the distance computation More...
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struct | DistanceResult |
| distance result More...
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struct | CollisionFunctionMatrix |
| collision matrix stores the functions for collision between different types of objects and provides a uniform call interface More...
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class | CollisionGeometry |
| The geometry for the object for collision or distance computation. More...
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class | CollisionObject |
| the object for collision or distance computation, contains the geometry and the transform information More...
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struct | ContactPatchSolver |
| 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). More...
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class | ComputeContactPatch |
| This class reduces the cost of identifying the geometry pair. This is usefull for repeated shape-shape queries. More...
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struct | ContactPatchFunctionMatrix |
| The contact patch matrix stores the functions for contact patches computation between different types of objects and provides a uniform call interface. More...
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class | Triangle |
| Triangle with 3 indices for points. More...
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struct | Quadrilateral |
| Quadrilateral with 4 indices for points. More...
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class | ComputeDistance |
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struct | DistanceFunctionMatrix |
| distance matrix stores the functions for distance between different types of objects and provides a uniform call interface More...
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struct | HFNodeBase |
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struct | HFNode |
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class | HeightField |
| Data structure depicting a height field given by the base grid dimensions and the elevation along the grid. More...
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class | BVFitterTpl |
| The class for the default algorithm fitting a bounding volume to a set of points. More...
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class | BVFitter< OBB > |
| Specification of BVFitter for OBB bounding volume. More...
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class | BVFitter< RSS > |
| Specification of BVFitter for RSS bounding volume. More...
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class | BVFitter< kIOS > |
| Specification of BVFitter for kIOS bounding volume. More...
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class | BVFitter< OBBRSS > |
| Specification of BVFitter for OBBRSS bounding volume. More...
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class | BVFitter< AABB > |
| Specification of BVFitter for AABB bounding volume. More...
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struct | ComputeShapeShapeContactPatch |
| Shape-shape contact patch computation. Assumes that csolver and the ContactPatchResult have already been set up by the ContactPatchRequest . More...
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struct | ComputeShapeShapeContactPatch< OtherShapeType, Plane > |
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struct | ComputeShapeShapeContactPatch< Plane, OtherShapeType > |
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struct | ComputeShapeShapeContactPatch< OtherShapeType, Halfspace > |
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struct | ComputeShapeShapeContactPatch< Halfspace, OtherShapeType > |
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struct | ComputeShapeShapeContactPatch< Plane, Plane > |
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struct | ComputeShapeShapeContactPatch< Plane, Halfspace > |
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struct | ComputeShapeShapeContactPatch< Halfspace, Plane > |
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struct | ComputeShapeShapeContactPatch< Halfspace, Halfspace > |
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class | Transform3s |
| Simple transform class used locally by InterpMotion. More...
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class | MeshLoader |
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class | CachedMeshLoader |
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struct | GJKSolver |
| 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. More...
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class | OcTree |
| Octree is one type of collision geometry which can encode uncertainty information in the sensor data. More...
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class | Convex |
| Convex polytope. More...
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class | ShapeBase |
| Base class for all basic geometric shapes. More...
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class | TriangleP |
| Triangle stores the points instead of only indices of points. More...
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class | Box |
| Center at zero point, axis aligned box. More...
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class | Sphere |
| Center at zero point sphere. More...
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class | Ellipsoid |
| Ellipsoid centered at point zero. More...
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class | Capsule |
| 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 \( A = (0,0,-halfLength), B = (0,0,halfLength) \). More...
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class | Cone |
| Cone The base of the cone is at \( z = - halfLength \) and the top is at \( z = halfLength \). More...
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class | Cylinder |
| Cylinder along Z axis. The cylinder is defined at its centroid. More...
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class | ConvexBase |
| Base for convex polytope. More...
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class | Halfspace |
| 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. More...
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class | Plane |
| 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. More...
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struct | shape_traits_base |
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struct | shape_traits |
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struct | shape_traits< TriangleP > |
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struct | shape_traits< Box > |
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struct | shape_traits< Sphere > |
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struct | shape_traits< Ellipsoid > |
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struct | shape_traits< Capsule > |
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struct | shape_traits< Cone > |
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struct | shape_traits< Cylinder > |
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struct | shape_traits< ConvexBase > |
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struct | shape_traits< Halfspace > |
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struct | CPUTimes |
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struct | Timer |
| 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. More...
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struct | TraversalTraitsCollision |
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struct | TraversalTraitsDistance |
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bool | defaultCollisionFunction (CollisionObject *o1, CollisionObject *o2, void *data) |
| Provides a simple callback for the collision query in the BroadPhaseCollisionManager. It assumes the data parameter is non-null and points to an instance of CollisionData. It simply invokes the collide() method on the culled pair of geometries and stores the results in the data's CollisionResult instance. More...
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bool | defaultDistanceFunction (CollisionObject *o1, CollisionObject *o2, void *data, Scalar &dist) |
| Collision data for use with the DefaultContinuousCollisionFunction. It stores the collision request and the result given by the collision algorithm (and stores the conclusion of whether further evaluation of the broadphase collision manager has been deemed unnecessary). More...
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bool | 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 | 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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template<short N> |
bool | overlap (const Matrix3s &, const Vec3s &, const KDOP< N > &, const KDOP< N > &) |
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template<short N> |
bool | overlap (const Matrix3s &, const Vec3s &, const KDOP< N > &, const KDOP< N > &, const CollisionRequest &, Scalar &) |
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template<short N> |
KDOP< N > | translate (const KDOP< N > &bv, const Vec3s &t) |
| translate the KDOP BV More...
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kIOS | translate (const kIOS &bv, const Vec3s &t) |
| Translate the kIOS BV. More...
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bool | 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 | 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 | 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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OBB | translate (const OBB &bv, const Vec3s &t) |
| Translate the OBB bv. More...
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bool | 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 | 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 | obbDisjoint (const Matrix3s &B, const Vec3s &T, const Vec3s &a, const Vec3s &b) |
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bool | 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 | overlap (const Matrix3s &R0, const Vec3s &T0, const OBBRSS &b1, const OBBRSS &b2, const CollisionRequest &request, Scalar &sqrDistLowerBound) |
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Scalar | 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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Scalar | 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 | 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 | 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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void | updateFrontList (BVHFrontList *front_list, unsigned int b1, unsigned int b2) |
| Add new front node into the front list. More...
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template<typename BV > |
BVHModel< BV > * | BVHExtract (const BVHModel< BV > &model, const Transform3s &pose, const AABB &aabb) |
| Extract the part of the BVHModel that is inside an AABB. A triangle in collision with the AABB is considered inside. More...
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template<> |
BVHModel< OBB > * | BVHExtract (const BVHModel< OBB > &model, const Transform3s &pose, const AABB &aabb) |
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template<> |
BVHModel< AABB > * | BVHExtract (const BVHModel< AABB > &model, const Transform3s &pose, const AABB &aabb) |
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template<> |
BVHModel< RSS > * | BVHExtract (const BVHModel< RSS > &model, const Transform3s &pose, const AABB &aabb) |
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template<> |
BVHModel< kIOS > * | BVHExtract (const BVHModel< kIOS > &model, const Transform3s &pose, const AABB &aabb) |
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template<> |
BVHModel< OBBRSS > * | BVHExtract (const BVHModel< OBBRSS > &model, const Transform3s &pose, const AABB &aabb) |
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template<> |
BVHModel< KDOP< 16 > > * | BVHExtract (const BVHModel< KDOP< 16 > > &model, const Transform3s &pose, const AABB &aabb) |
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template<> |
BVHModel< KDOP< 18 > > * | BVHExtract (const BVHModel< KDOP< 18 > > &model, const Transform3s &pose, const AABB &aabb) |
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template<> |
BVHModel< KDOP< 24 > > * | BVHExtract (const BVHModel< KDOP< 24 > > &model, const Transform3s &pose, const AABB &aabb) |
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void | getCovariance (Vec3s *ps, Vec3s *ps2, Triangle *ts, unsigned int *indices, unsigned int n, Matrix3s &M) |
| Compute the covariance matrix for a set or subset of points. if ts = null, then indices refer to points directly; otherwise refer to triangles. More...
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void | getRadiusAndOriginAndRectangleSize (Vec3s *ps, Vec3s *ps2, Triangle *ts, unsigned int *indices, unsigned int n, const Matrix3s &axes, Vec3s &origin, Scalar l[2], Scalar &r) |
| Compute the RSS bounding volume parameters: radius, rectangle size and the origin, given the BV axises. More...
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void | getExtentAndCenter (Vec3s *ps, Vec3s *ps2, Triangle *ts, unsigned int *indices, unsigned int n, Matrix3s &axes, Vec3s ¢er, Vec3s &extent) |
| Compute the bounding volume extent and center for a set or subset of points, given the BV axises. More...
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void | circumCircleComputation (const Vec3s &a, const Vec3s &b, const Vec3s &c, Vec3s ¢er, Scalar &radius) |
| Compute the center and radius for a triangle's circumcircle. More...
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Scalar | maximumDistance (Vec3s *ps, Vec3s *ps2, Triangle *ts, unsigned int *indices, unsigned int n, const Vec3s &query) |
| Compute the maximum distance from a given center point to a point cloud. More...
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std::size_t | collide (const CollisionObject *o1, const CollisionObject *o2, const CollisionRequest &request, CollisionResult &result) |
| Main collision interface: given two collision objects, and the requirements for contacts, including num of max contacts, whether perform exhaustive collision (i.e., returning returning all the contact points), whether return detailed contact information (i.e., normal, contact point, depth; otherwise only contact primitive id is returned), this function performs the collision between them. Return value is the number of contacts generated between the two objects. More...
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std::size_t | collide (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const CollisionRequest &request, CollisionResult &result) |
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void | constructContactPatchFrameFromContact (const Contact &contact, ContactPatch &contact_patch) |
| Construct a frame from a Contact 's position and normal. Because both Contact 's position and normal are expressed in the world frame, this frame is also expressed w.r.t the world frame. The origin of the frame is contact.pos and the z-axis of the frame is contact.normal . More...
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CollisionRequestFlag | operator~ (CollisionRequestFlag a) |
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CollisionRequestFlag | operator| (CollisionRequestFlag a, CollisionRequestFlag b) |
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CollisionRequestFlag | operator& (CollisionRequestFlag a, CollisionRequestFlag b) |
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CollisionRequestFlag | operator^ (CollisionRequestFlag a, CollisionRequestFlag b) |
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CollisionRequestFlag & | operator|= (CollisionRequestFlag &a, CollisionRequestFlag b) |
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CollisionRequestFlag & | operator&= (CollisionRequestFlag &a, CollisionRequestFlag b) |
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CollisionRequestFlag & | operator^= (CollisionRequestFlag &a, CollisionRequestFlag b) |
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CollisionGeometry * | extract (const CollisionGeometry *model, const Transform3s &pose, const AABB &aabb) |
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const char * | get_node_type_name (NODE_TYPE node_type) |
| Returns the name associated to a NODE_TYPE. More...
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const char * | get_object_type_name (OBJECT_TYPE object_type) |
| Returns the name associated to a OBJECT_TYPE. More...
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void | computeContactPatch (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const CollisionResult &collision_result, const ContactPatchRequest &request, ContactPatchResult &result) |
| Main contact patch computation interface. More...
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void | computeContactPatch (const CollisionObject *o1, const CollisionObject *o2, const CollisionResult &collision_result, const ContactPatchRequest &request, ContactPatchResult &result) |
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Scalar | distance (const CollisionObject *o1, const CollisionObject *o2, const DistanceRequest &request, DistanceResult &result) |
| Main distance interface: given two collision objects, and the requirements for contacts, including whether return the nearest points, this function performs the distance between them. Return value is the minimum distance generated between the two objects. More...
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Scalar | distance (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const DistanceRequest &request, DistanceResult &result) |
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HFNodeBase::FaceOrientation | operator& (HFNodeBase::FaceOrientation a, HFNodeBase::FaceOrientation b) |
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int | operator& (int a, HFNodeBase::FaceOrientation b) |
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template<typename BV > |
void | fit (Vec3s *ps, unsigned int n, BV &bv) |
| Compute a bounding volume that fits a set of n points. More...
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template<> |
void | fit< OBB > (Vec3s *ps, unsigned int n, OBB &bv) |
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template<> |
void | fit< RSS > (Vec3s *ps, unsigned int n, RSS &bv) |
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template<> |
void | fit< kIOS > (Vec3s *ps, unsigned int n, kIOS &bv) |
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template<> |
void | fit< OBBRSS > (Vec3s *ps, unsigned int n, OBBRSS &bv) |
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template<> |
void | fit< AABB > (Vec3s *ps, unsigned int n, AABB &bv) |
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template<bool InvertShapes, typename OtherShapeType , typename PlaneOrHalfspace > |
void | computePatchPlaneOrHalfspace (const OtherShapeType &s1, const Transform3s &tf1, const PlaneOrHalfspace &s2, const Transform3s &tf2, const ContactPatchSolver *csolver, const Contact &contact, ContactPatch &contact_patch) |
| Computes the contact patch between a Plane/Halfspace and another shape. More...
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template<typename ShapeType1 , typename ShapeType2 > |
void | ShapeShapeContactPatch (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const CollisionResult &collision_result, const ContactPatchSolver *csolver, const ContactPatchRequest &request, ContactPatchResult &result) |
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template<typename Derived1 , typename Derived2 , typename Derived3 > |
void | generateCoordinateSystem (const Eigen::MatrixBase< Derived1 > &_w, const Eigen::MatrixBase< Derived2 > &_u, const Eigen::MatrixBase< Derived3 > &_v) |
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template<typename Derived , typename OtherDerived > |
void | relativeTransform (const Eigen::MatrixBase< Derived > &R1, const Eigen::MatrixBase< OtherDerived > &t1, const Eigen::MatrixBase< Derived > &R2, const Eigen::MatrixBase< OtherDerived > &t2, const Eigen::MatrixBase< Derived > &R, const Eigen::MatrixBase< OtherDerived > &t) |
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template<typename Derived , typename Vector > |
void | eigen (const Eigen::MatrixBase< Derived > &m, typename Derived::Scalar dout[3], Vector *vout) |
| compute the eigen vector and eigen vector of a matrix. dout is the eigen values, vout is the eigen vectors More...
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template<typename Derived , typename OtherDerived > |
bool | isEqual (const Eigen::MatrixBase< Derived > &lhs, const Eigen::MatrixBase< OtherDerived > &rhs, const Scalar tol=std::numeric_limits< Scalar >::epsilon() *100) |
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template<typename Derived > |
Quats | fromAxisAngle (const Eigen::MatrixBase< Derived > &axis, Scalar angle) |
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Quats | uniformRandomQuaternion () |
| Uniformly random quaternion sphere. Code taken from Pinocchio (https://github.com/stack-of-tasks/pinocchio). More...
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Matrix3s | constructOrthonormalBasisFromVector (const Vec3s &vec) |
| Construct othonormal basis from vector. The z-axis is the normalized input vector. More...
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template<class BoundingVolume > |
void | loadPolyhedronFromResource (const std::string &resource_path, const coal::Vec3s &scale, const shared_ptr< BVHModel< BoundingVolume > > &polyhedron) |
| Read a mesh file and convert it to a polyhedral mesh. More...
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OcTreePtr_t | makeOctree (const Eigen::Matrix< Scalar, Eigen::Dynamic, 3 > &point_cloud, const Scalar resolution) |
| Build an OcTree from a point cloud and a given resolution. More...
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template<typename T > |
size_t | computeMemoryFootprint (const T &object) |
| Returns the memory footpring of the input object. For POD objects, this function returns the result of sizeof(T) More...
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template<typename BV > |
void | generateBVHModel (BVHModel< BV > &model, const Box &shape, const Transform3s &pose) |
| Generate BVH model from box. More...
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template<typename BV > |
void | generateBVHModel (BVHModel< BV > &model, const Sphere &shape, const Transform3s &pose, unsigned int seg, unsigned int ring) |
| Generate BVH model from sphere, given the number of segments along longitude and number of rings along latitude. More...
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template<typename BV > |
void | generateBVHModel (BVHModel< BV > &model, const Sphere &shape, const Transform3s &pose, unsigned int n_faces_for_unit_sphere) |
| Generate BVH model from sphere The difference between generateBVHModel is that it gives the number of triangles faces N for a sphere with unit radius. For sphere of radius r, then the number of triangles is r * r * N so that the area represented by a single triangle is approximately the same.s. More...
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template<typename BV > |
void | generateBVHModel (BVHModel< BV > &model, const Cylinder &shape, const Transform3s &pose, unsigned int tot, unsigned int h_num) |
| Generate BVH model from cylinder, given the number of segments along circle and the number of segments along axis. More...
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template<typename BV > |
void | generateBVHModel (BVHModel< BV > &model, const Cylinder &shape, const Transform3s &pose, unsigned int tot_for_unit_cylinder) |
| Generate BVH model from cylinder Difference from generateBVHModel: is that it gives the circle split number tot for a cylinder with unit radius. For cylinder with larger radius, the number of circle split number is r * tot. More...
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template<typename BV > |
void | generateBVHModel (BVHModel< BV > &model, const Cone &shape, const Transform3s &pose, unsigned int tot, unsigned int h_num) |
| Generate BVH model from cone, given the number of segments along circle and the number of segments along axis. More...
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template<typename BV > |
void | generateBVHModel (BVHModel< BV > &model, const Cone &shape, const Transform3s &pose, unsigned int tot_for_unit_cone) |
| Generate BVH model from cone Difference from generateBVHModel: is that it gives the circle split number tot for a cylinder with unit radius. For cone with larger radius, the number of circle split number is r * tot. More...
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template<typename BV , typename S > |
void | computeBV (const S &s, const Transform3s &tf, BV &bv) |
| calculate a bounding volume for a shape in a specific configuration More...
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template<> |
void | computeBV< AABB, Box > (const Box &s, const Transform3s &tf, AABB &bv) |
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template<> |
void | computeBV< AABB, Sphere > (const Sphere &s, const Transform3s &tf, AABB &bv) |
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template<> |
void | computeBV< AABB, Ellipsoid > (const Ellipsoid &e, const Transform3s &tf, AABB &bv) |
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template<> |
void | computeBV< AABB, Capsule > (const Capsule &s, const Transform3s &tf, AABB &bv) |
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template<> |
void | computeBV< AABB, Cone > (const Cone &s, const Transform3s &tf, AABB &bv) |
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template<> |
void | computeBV< AABB, Cylinder > (const Cylinder &s, const Transform3s &tf, AABB &bv) |
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template<> |
void | computeBV< AABB, ConvexBase > (const ConvexBase &s, const Transform3s &tf, AABB &bv) |
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template<> |
void | computeBV< AABB, TriangleP > (const TriangleP &s, const Transform3s &tf, AABB &bv) |
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template<> |
void | computeBV< AABB, Halfspace > (const Halfspace &s, const Transform3s &tf, AABB &bv) |
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template<> |
void | computeBV< AABB, Plane > (const Plane &s, const Transform3s &tf, AABB &bv) |
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template<> |
void | computeBV< OBB, Box > (const Box &s, const Transform3s &tf, OBB &bv) |
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template<> |
void | computeBV< OBB, Sphere > (const Sphere &s, const Transform3s &tf, OBB &bv) |
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template<> |
void | computeBV< OBB, Capsule > (const Capsule &s, const Transform3s &tf, OBB &bv) |
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template<> |
void | computeBV< OBB, Cone > (const Cone &s, const Transform3s &tf, OBB &bv) |
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template<> |
void | computeBV< OBB, Cylinder > (const Cylinder &s, const Transform3s &tf, OBB &bv) |
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template<> |
void | computeBV< OBB, ConvexBase > (const ConvexBase &s, const Transform3s &tf, OBB &bv) |
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template<> |
void | computeBV< OBB, Halfspace > (const Halfspace &s, const Transform3s &tf, OBB &bv) |
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template<> |
void | computeBV< RSS, Halfspace > (const Halfspace &s, const Transform3s &tf, RSS &bv) |
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template<> |
void | computeBV< OBBRSS, Halfspace > (const Halfspace &s, const Transform3s &tf, OBBRSS &bv) |
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template<> |
void | computeBV< kIOS, Halfspace > (const Halfspace &s, const Transform3s &tf, kIOS &bv) |
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template<> |
void | computeBV< KDOP< 16 >, Halfspace > (const Halfspace &s, const Transform3s &tf, KDOP< 16 > &bv) |
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template<> |
void | computeBV< KDOP< 18 >, Halfspace > (const Halfspace &s, const Transform3s &tf, KDOP< 18 > &bv) |
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template<> |
void | computeBV< KDOP< 24 >, Halfspace > (const Halfspace &s, const Transform3s &tf, KDOP< 24 > &bv) |
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template<> |
void | computeBV< OBB, Plane > (const Plane &s, const Transform3s &tf, OBB &bv) |
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template<> |
void | computeBV< RSS, Plane > (const Plane &s, const Transform3s &tf, RSS &bv) |
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template<> |
void | computeBV< OBBRSS, Plane > (const Plane &s, const Transform3s &tf, OBBRSS &bv) |
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template<> |
void | computeBV< kIOS, Plane > (const Plane &s, const Transform3s &tf, kIOS &bv) |
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template<> |
void | computeBV< KDOP< 16 >, Plane > (const Plane &s, const Transform3s &tf, KDOP< 16 > &bv) |
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template<> |
void | computeBV< KDOP< 18 >, Plane > (const Plane &s, const Transform3s &tf, KDOP< 18 > &bv) |
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template<> |
void | computeBV< KDOP< 24 >, Plane > (const Plane &s, const Transform3s &tf, KDOP< 24 > &bv) |
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void | constructBox (const AABB &bv, Box &box, Transform3s &tf) |
| construct a box shape (with a configuration) from a given bounding volume More...
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void | constructBox (const OBB &bv, Box &box, Transform3s &tf) |
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void | constructBox (const OBBRSS &bv, Box &box, Transform3s &tf) |
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void | constructBox (const kIOS &bv, Box &box, Transform3s &tf) |
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void | constructBox (const RSS &bv, Box &box, Transform3s &tf) |
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void | constructBox (const KDOP< 16 > &bv, Box &box, Transform3s &tf) |
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void | constructBox (const KDOP< 18 > &bv, Box &box, Transform3s &tf) |
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void | constructBox (const KDOP< 24 > &bv, Box &box, Transform3s &tf) |
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void | constructBox (const AABB &bv, const Transform3s &tf_bv, Box &box, Transform3s &tf) |
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void | constructBox (const OBB &bv, const Transform3s &tf_bv, Box &box, Transform3s &tf) |
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void | constructBox (const OBBRSS &bv, const Transform3s &tf_bv, Box &box, Transform3s &tf) |
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void | constructBox (const kIOS &bv, const Transform3s &tf_bv, Box &box, Transform3s &tf) |
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void | constructBox (const RSS &bv, const Transform3s &tf_bv, Box &box, Transform3s &tf) |
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void | constructBox (const KDOP< 16 > &bv, const Transform3s &tf_bv, Box &box, Transform3s &tf) |
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void | constructBox (const KDOP< 18 > &bv, const Transform3s &tf_bv, Box &box, Transform3s &tf) |
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void | constructBox (const KDOP< 24 > &bv, const Transform3s &tf_bv, Box &box, Transform3s &tf) |
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Halfspace | transform (const Halfspace &a, const Transform3s &tf) |
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Plane | transform (const Plane &a, const Transform3s &tf) |
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std::array< Halfspace, 2 > | transformToHalfspaces (const Plane &a, const Transform3s &tf) |
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bool | obbDisjointAndLowerBoundDistance (const Matrix3s &B, const Vec3s &T, const Vec3s &a, const Vec3s &b, const CollisionRequest &request, Scalar &squaredLowerBoundDistance) |
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