coal Namespace Reference

Main namespace. More...

Namespaces
namespace	detail
namespace	details
namespace	internal
namespace	serialization

Classes
class	AABB
	A class describing the AABB collision structure, which is a box in 3D space determined by two diagonal points. More...
class	Box
	Center at zero point, axis aligned box. More...
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...
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...
class	BVFitter
	The class for the default algorithm fitting a bounding volume to a set of points. More...
class	BVFitter< AABB >
	Specification of BVFitter for AABB bounding volume. More...
class	BVFitter< kIOS >
	Specification of BVFitter for kIOS bounding volume. More...
class	BVFitter< OBB >
	Specification of BVFitter for OBB bounding volume. More...
class	BVFitter< OBBRSS >
	Specification of BVFitter for OBBRSS bounding volume. More...
class	BVFitter< RSS >
	Specification of BVFitter for RSS bounding volume. More...
class	BVFitterTpl
	The class for the default algorithm fitting a bounding volume to a set of points. More...
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...
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...
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...
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...
struct	BVNodeBase
	BVNodeBase encodes the tree structure for BVH. More...
class	BVSplitter
	A class describing the split rule that splits each BV node. More...
class	CachedMeshLoader
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...
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...
struct	CollisionCallBackCollect
	Collision callback to collect collision pairs potentially in contacts. More...
struct	CollisionCallBackDefault
	Default collision callback to check collision between collision objects. More...
struct	CollisionData
	Collision data stores the collision request and the result given by collision algorithm. More...
struct	CollisionFunctionMatrix
	collision matrix stores the functions for collision between different types of objects and provides a uniform call interface More...
class	CollisionGeometry
	The geometry for the object for collision or distance computation. More...
class	CollisionObject
	the object for collision or distance computation, contains the geometry and the transform information More...
struct	CollisionRequest
	request to the collision algorithm More...
struct	CollisionResult
	collision result More...
class	ComputeCollision
	This class reduces the cost of identifying the geometry pair. This is mostly useful for repeated shape-shape queries. More...
class	ComputeContactPatch
	This class reduces the cost of identifying the geometry pair. This is usefull for repeated shape-shape queries. More...
class	ComputeDistance
struct	ComputeShapeShapeContactPatch
	Shape-shape contact patch computation. Assumes that csolver and the ContactPatchResult have already been set up by the ContactPatchRequest. More...
struct	ComputeShapeShapeContactPatch< Halfspace, Halfspace >
struct	ComputeShapeShapeContactPatch< Halfspace, OtherShapeType >
struct	ComputeShapeShapeContactPatch< Halfspace, Plane >
struct	ComputeShapeShapeContactPatch< OtherShapeType, Halfspace >
struct	ComputeShapeShapeContactPatch< OtherShapeType, Plane >
struct	ComputeShapeShapeContactPatch< Plane, Halfspace >
struct	ComputeShapeShapeContactPatch< Plane, OtherShapeType >
struct	ComputeShapeShapeContactPatch< Plane, Plane >
class	Cone
	Cone The base of the cone is at \( z = - halfLength \) and the top is at \( z = halfLength \). More...
struct	Contact
	Contact information returned by collision. More...
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...
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...
struct	ContactPatchRequest
	Request for a contact patch computation. More...
struct	ContactPatchResult
	Result for a contact patch computation. More...
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...
class	ConvexBaseTpl
	Base for convex polytope. More...
struct	ConvexBaseTplNeighbors
struct	ConvexBaseTplSupportWarmStartPolytope
class	ConvexTpl
	Convex polytope. More...
struct	CPUTimes
class	Cylinder
	Cylinder along Z axis. The cylinder is defined at its centroid. More...
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...
struct	DistanceCallBackDefault
	Default distance callback to check collision between collision objects. More...
struct	DistanceData
	Distance data stores the distance request and the result given by distance algorithm. More...
struct	DistanceFunctionMatrix
	distance matrix stores the functions for distance between different types of objects and provides a uniform call interface More...
struct	DistanceRequest
	request to the distance computation More...
struct	DistanceResult
	distance result More...
class	DynamicAABBTreeArrayCollisionManager
class	DynamicAABBTreeCollisionManager
class	Ellipsoid
	Ellipsoid centered at point zero. More...
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...
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...
class	HeightField
	Data structure depicting a height field given by the base grid dimensions and the elevation along the grid. More...
struct	HFNode
struct	HFNodeBase
class	IntervalTreeCollisionManager
	Collision manager based on interval tree. More...
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...
class	kIOS
	A class describing the kIOS collision structure, which is a set of spheres. More...
class	MeshLoader
class	NaiveCollisionManager
	Brute force N-body collision manager. More...
struct	OBB
	Oriented bounding box class. More...
struct	OBBRSS
	Class merging the OBB and RSS, can handle collision and distance simultaneously. More...
class	OcTree
	Octree is one type of collision geometry which can encode uncertainty information in the sensor data. More...
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...
struct	QuadrilateralTpl
	Quadrilateral with 4 indices for points. More...
struct	QueryRequest
	base class for all query requests More...
struct	QueryResult
	base class for all query results More...
struct	RSS
	A class for rectangle sphere-swept bounding volume. More...
class	SaPCollisionManager
	Rigorous SAP collision manager. More...
struct	shape_traits
struct	shape_traits< Box >
struct	shape_traits< Capsule >
struct	shape_traits< Cone >
struct	shape_traits< ConvexBaseTpl< IndexType > >
struct	shape_traits< Cylinder >
struct	shape_traits< Ellipsoid >
struct	shape_traits< Halfspace >
struct	shape_traits< Sphere >
struct	shape_traits< TriangleP >
struct	shape_traits_base
class	ShapeBase
	Base class for all basic geometric shapes. More...
class	SpatialHashingCollisionManager
	spatial hashing collision mananger More...
class	Sphere
	Center at zero point sphere. More...
class	SSaPCollisionManager
	Simple SAP collision manager. More...
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...
class	Transform3s
	Simple transform class used locally by InterpMotion. More...
struct	TraversalTraitsCollision
struct	TraversalTraitsDistance
class	TriangleP
	Triangle stores the points instead of only indices of points. More...
class	TriangleTpl
	Triangle with 3 indices for points. More...

Typedefs
template<typename S >
using	ContinuousCollisionCallBack = bool(*)(ContinuousCollisionObject *o1, ContinuousCollisionObject *o2, void *cdata)
	Callback for continuous collision between two objects. Return value is whether can stop now.
template<typename S >
using	ContinuousDistanceCallBack = bool(*)(ContinuousCollisionObject *o1, ContinuousCollisionObject *o2, S &dist)
	Callback for continuous distance between two objects, Return value is whether can stop now, also return the minimum distance till now.
using	BroadPhaseContinuousCollisionManagerf = BroadPhaseContinuousCollisionManager< float >
using	BroadPhaseContinuousCollisionManagerd = BroadPhaseContinuousCollisionManager< Scalar >
typedef std::list< BVHFrontNode >	BVHFrontList
	BVH front list is a list of front nodes.
using	SupportSet = ContactPatch
	Structure used for internal computations. A support set and a contact patch can be represented by the same structure. In fact, a contact patch is the intersection of two support sets, one with PatchDirection::DEFAULT and one with PatchDirection::INVERTED.
typedef double	CoalScalar
typedef double	Scalar
typedef Eigen::Matrix< Scalar, 3, 1 >	Vec3s
typedef Eigen::Matrix< Scalar, 2, 1 >	Vec2s
typedef Eigen::Matrix< Scalar, 6, 1 >	Vec6s
typedef Eigen::Matrix< Scalar, Eigen::Dynamic, 1 >	VecXs
typedef Eigen::Matrix< Scalar, 3, 3 >	Matrix3s
typedef Eigen::Matrix< Scalar, Eigen::Dynamic, 3, Eigen::RowMajor >	MatrixX3s
typedef Eigen::Matrix< Scalar, Eigen::Dynamic, 2, Eigen::RowMajor >	MatrixX2s
typedef Eigen::Matrix< Eigen::DenseIndex, Eigen::Dynamic, 3, Eigen::RowMajor >	Matrixx3i
typedef Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic >	MatrixXs
typedef Eigen::Vector2i	support_func_guess_t
typedef double	SolverScalar
typedef Eigen::Matrix< SolverScalar, 3, 1 >	Vec3ps
typedef TriangleTpl< std::uint16_t >	Triangle16
typedef TriangleTpl< std::uint32_t >	Triangle32
typedef Triangle32	Triangle
typedef QuadrilateralTpl< std::uint16_t >	Quadrilateral16
typedef QuadrilateralTpl< std::uint32_t >	Quadrilateral32
typedef Quadrilateral32	Quadrilateral
typedef shared_ptr< CollisionObject >	CollisionObjectPtr_t
typedef shared_ptr< const CollisionObject >	CollisionObjectConstPtr_t
typedef shared_ptr< CollisionGeometry >	CollisionGeometryPtr_t
typedef shared_ptr< const CollisionGeometry >	CollisionGeometryConstPtr_t
typedef shared_ptr< BVHModelBase >	BVHModelPtr_t
typedef shared_ptr< OcTree >	OcTreePtr_t
typedef shared_ptr< const OcTree >	OcTreeConstPtr_t
typedef Eigen::Quaternion< Scalar >	Quaternion3f
typedef Eigen::Quaternion< Scalar >	Quats
typedef ConvexTpl< Triangle16 >	Convex16
typedef ConvexTpl< Triangle32 >	Convex32
typedef ConvexBaseTpl< Triangle16::IndexType >	ConvexBase16
typedef ConvexBaseTpl< Triangle32::IndexType >	ConvexBase32

Enumerations
enum	BVHBuildState {   BVH_BUILD_STATE_EMPTY , BVH_BUILD_STATE_BEGUN , BVH_BUILD_STATE_PROCESSED , BVH_BUILD_STATE_UPDATE_BEGUN ,   BVH_BUILD_STATE_UPDATED , BVH_BUILD_STATE_REPLACE_BEGUN }
	States for BVH construction empty->begun->processed ->replace_begun->processed -> ...... | |-> update_begun -> updated -> ..... More...
enum	BVHReturnCode {   BVH_OK = 0 , BVH_ERR_MODEL_OUT_OF_MEMORY , BVH_ERR_BUILD_OUT_OF_SEQUENCE , BVH_ERR_BUILD_EMPTY_MODEL = -3 ,   BVH_ERR_BUILD_EMPTY_PREVIOUS_FRAME , BVH_ERR_UNSUPPORTED_FUNCTION = -5 , BVH_ERR_UNUPDATED_MODEL = -6 , BVH_ERR_INCORRECT_DATA = -7 ,   BVH_ERR_UNKNOWN = -8 }
	Error code for BVH. More...
enum	BVHModelType { BVH_MODEL_UNKNOWN , BVH_MODEL_TRIANGLES , BVH_MODEL_POINTCLOUD }
	BVH model type. More...
enum	CollisionRequestFlag { CONTACT = 0x00001 , DISTANCE_LOWER_BOUND = 0x00002 , NO_REQUEST = 0x01000 }
	flag declaration for specifying required params in CollisionResult More...
enum	OBJECT_TYPE {   OT_UNKNOWN , OT_BVH , OT_GEOM , OT_OCTREE ,   OT_HFIELD , OT_COUNT }
	object type: BVH (mesh, points), basic geometry, octree More...
enum	NODE_TYPE {   BV_UNKNOWN , BV_AABB , BV_OBB , BV_RSS ,   BV_kIOS , BV_OBBRSS , BV_KDOP16 , BV_KDOP18 ,   BV_KDOP24 , GEOM_BOX , GEOM_SPHERE , GEOM_CAPSULE ,   GEOM_CONE , GEOM_CYLINDER , GEOM_CONVEX16 , GEOM_CONVEX32 ,   GEOM_CONVEX = GEOM_CONVEX32 , GEOM_PLANE , GEOM_HALFSPACE , GEOM_TRIANGLE ,   GEOM_OCTREE , GEOM_ELLIPSOID , HF_AABB , HF_OBBRSS ,   NODE_COUNT }
	traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS, KDOP16, KDOP18, kDOP24), basic shape (box, sphere, ellipsoid, capsule, cone, cylinder, convex, plane, triangle), and octree More...
enum	GJKInitialGuess { DefaultGuess , CachedGuess , BoundingVolumeGuess }
	Initial guess to use for the GJK algorithm DefaultGuess: Vec3s(1, 0, 0) CachedGuess: previous vector found by GJK or guess cached by the user BoundingVolumeGuess: guess using the centers of the shapes' AABB WARNING: to use BoundingVolumeGuess, computeLocalAABB must have been called on the two shapes. More...
enum	GJKVariant { DefaultGJK , PolyakAcceleration , NesterovAcceleration }
	Variant to use for the GJK algorithm. More...
enum	GJKConvergenceCriterion { Default , DualityGap , Hybrid }
	Which convergence criterion is used to stop the algorithm (when the shapes are not in collision). (default) VDB: Van den Bergen (A Fast and Robust GJK Implementation, 1999) DG: duality-gap, as used in the Frank-Wolfe and the vanilla 1988 GJK algorithms Hybrid: a mix between VDB and DG. More...
enum	GJKConvergenceCriterionType { Relative , Absolute }
	Wether the convergence criterion is scaled on the norm of the solution or not. More...
enum	SplitMethodType { SPLIT_METHOD_MEAN , SPLIT_METHOD_MEDIAN , SPLIT_METHOD_BV_CENTER }
	Three types of split algorithms are provided in FCL as default. More...

Functions
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.
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).
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.
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.
template<short N>
bool	overlap (const Matrix3s &, const Vec3s &, const KDOP< N > &, const KDOP< N > &)
template<short N>
bool	overlap (const Matrix3s &, const Vec3s &, const KDOP< N > &, const KDOP< N > &, const CollisionRequest &, Scalar &)
template<short N>
KDOP< N >	translate (const KDOP< N > &bv, const Vec3s &t)
	translate the KDOP BV
kIOS	translate (const kIOS &bv, const Vec3s &t)
	Translate the kIOS BV.
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.
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.
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.
OBB	translate (const OBB &bv, const Vec3s &t)
	Translate the OBB bv.
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.
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.
bool	obbDisjoint (const Matrix3s &B, const Vec3s &T, const Vec3s &a, const Vec3s &b)
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.
bool	overlap (const Matrix3s &R0, const Vec3s &T0, const OBBRSS &b1, const OBBRSS &b2, const CollisionRequest &request, Scalar &sqrDistLowerBound)
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.
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)
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.
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.
void	updateFrontList (BVHFrontList *front_list, unsigned int b1, unsigned int b2)
	Add new front node into the front list.
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.
template<>
BVHModel< OBB > *	BVHExtract (const BVHModel< OBB > &model, const Transform3s &pose, const AABB &aabb)
template<>
BVHModel< AABB > *	BVHExtract (const BVHModel< AABB > &model, const Transform3s &pose, const AABB &aabb)
template<>
BVHModel< RSS > *	BVHExtract (const BVHModel< RSS > &model, const Transform3s &pose, const AABB &aabb)
template<>
BVHModel< kIOS > *	BVHExtract (const BVHModel< kIOS > &model, const Transform3s &pose, const AABB &aabb)
template<>
BVHModel< OBBRSS > *	BVHExtract (const BVHModel< OBBRSS > &model, const Transform3s &pose, const AABB &aabb)
template<>
BVHModel< KDOP< 16 > > *	BVHExtract (const BVHModel< KDOP< 16 > > &model, const Transform3s &pose, const AABB &aabb)
template<>
BVHModel< KDOP< 18 > > *	BVHExtract (const BVHModel< KDOP< 18 > > &model, const Transform3s &pose, const AABB &aabb)
template<>
BVHModel< KDOP< 24 > > *	BVHExtract (const BVHModel< KDOP< 24 > > &model, const Transform3s &pose, const AABB &aabb)
void	getCovariance (Vec3s *ps, Vec3s *ps2, Triangle32 *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.
void	getRadiusAndOriginAndRectangleSize (Vec3s *ps, Vec3s *ps2, Triangle32 *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.
void	getExtentAndCenter (Vec3s *ps, Vec3s *ps2, Triangle32 *ts, unsigned int *indices, unsigned int n, Matrix3s &axes, Vec3s &center, Vec3s &extent)
	Compute the bounding volume extent and center for a set or subset of points, given the BV axises.
void	circumCircleComputation (const Vec3s &a, const Vec3s &b, const Vec3s &c, Vec3s &center, Scalar &radius)
	Compute the center and radius for a triangle's circumcircle.
Scalar	maximumDistance (Vec3s *ps, Vec3s *ps2, Triangle32 *ts, unsigned int *indices, unsigned int n, const Vec3s &query)
	Compute the maximum distance from a given center point to a point cloud.
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.
std::size_t	collide (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const CollisionRequest &request, CollisionResult &result)
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.
CollisionRequestFlag	operator~ (CollisionRequestFlag a)
CollisionRequestFlag	operator| (CollisionRequestFlag a, CollisionRequestFlag b)
CollisionRequestFlag	operator& (CollisionRequestFlag a, CollisionRequestFlag b)
CollisionRequestFlag	operator^ (CollisionRequestFlag a, CollisionRequestFlag b)
CollisionRequestFlag &	operator|= (CollisionRequestFlag &a, CollisionRequestFlag b)
CollisionRequestFlag &	operator&= (CollisionRequestFlag &a, CollisionRequestFlag b)
CollisionRequestFlag &	operator^= (CollisionRequestFlag &a, CollisionRequestFlag b)
CollisionGeometry *	extract (const CollisionGeometry *model, const Transform3s &pose, const AABB &aabb)
const char *	get_node_type_name (NODE_TYPE node_type)
	Returns the name associated to a NODE_TYPE.
const char *	get_object_type_name (OBJECT_TYPE object_type)
	Returns the name associated to a OBJECT_TYPE.
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.
void	computeContactPatch (const CollisionObject *o1, const CollisionObject *o2, const CollisionResult &collision_result, const ContactPatchRequest &request, ContactPatchResult &result)
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.
Scalar	distance (const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const DistanceRequest &request, DistanceResult &result)
HFNodeBase::FaceOrientation	operator& (HFNodeBase::FaceOrientation a, HFNodeBase::FaceOrientation b)
int	operator& (int a, HFNodeBase::FaceOrientation b)
template<typename BV >
void	fit (Vec3s *ps, unsigned int n, BV &bv)
	Compute a bounding volume that fits a set of n points.
template<>
void	fit< OBB > (Vec3s *ps, unsigned int n, OBB &bv)
template<>
void	fit< RSS > (Vec3s *ps, unsigned int n, RSS &bv)
template<>
void	fit< kIOS > (Vec3s *ps, unsigned int n, kIOS &bv)
template<>
void	fit< OBBRSS > (Vec3s *ps, unsigned int n, OBBRSS &bv)
template<>
void	fit< AABB > (Vec3s *ps, unsigned int n, AABB &bv)
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.
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)
template<typename Derived1 , typename Derived2 , typename Derived3 >
void	generateCoordinateSystem (const Eigen::MatrixBase< Derived1 > &_w, const Eigen::MatrixBase< Derived2 > &_u, const Eigen::MatrixBase< Derived3 > &_v)
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)
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
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)
template<typename Derived >
Quats	fromAxisAngle (const Eigen::MatrixBase< Derived > &axis, Scalar angle)
Quats	uniformRandomQuaternion ()
	Uniformly random quaternion sphere. Code taken from Pinocchio (https://github.com/stack-of-tasks/pinocchio).
Matrix3s	constructOrthonormalBasisFromVector (const Vec3s &vec)
	Construct othonormal basis from vector. The z-axis is the normalized input vector.
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.
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.
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)
template<typename BV >
void	generateBVHModel (BVHModel< BV > &model, const Box &shape, const Transform3s &pose)
	Generate BVH model from box.
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.
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.
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.
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.
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.
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.
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
template<typename IndexType >
void	reorderTriangle (const ConvexTpl< TriangleTpl< IndexType > > *convex_tri, TriangleTpl< IndexType > &tri)
template<>
void	computeBV< AABB, Box > (const Box &s, const Transform3s &tf, AABB &bv)
template<>
void	computeBV< AABB, Sphere > (const Sphere &s, const Transform3s &tf, AABB &bv)
template<>
void	computeBV< AABB, Ellipsoid > (const Ellipsoid &e, const Transform3s &tf, AABB &bv)
template<>
void	computeBV< AABB, Capsule > (const Capsule &s, const Transform3s &tf, AABB &bv)
template<>
void	computeBV< AABB, Cone > (const Cone &s, const Transform3s &tf, AABB &bv)
template<>
void	computeBV< AABB, Cylinder > (const Cylinder &s, const Transform3s &tf, AABB &bv)
template<>
void	computeBV< AABB, ConvexBase32 > (const ConvexBase32 &s, const Transform3s &tf, AABB &bv)
template<>
void	computeBV< AABB, ConvexBase16 > (const ConvexBase16 &s, const Transform3s &tf, AABB &bv)
template<>
void	computeBV< AABB, TriangleP > (const TriangleP &s, const Transform3s &tf, AABB &bv)
template<>
void	computeBV< AABB, Halfspace > (const Halfspace &s, const Transform3s &tf, AABB &bv)
template<>
void	computeBV< AABB, Plane > (const Plane &s, const Transform3s &tf, AABB &bv)
template<>
void	computeBV< OBB, Box > (const Box &s, const Transform3s &tf, OBB &bv)
template<>
void	computeBV< OBB, Sphere > (const Sphere &s, const Transform3s &tf, OBB &bv)
template<>
void	computeBV< OBB, Capsule > (const Capsule &s, const Transform3s &tf, OBB &bv)
template<>
void	computeBV< OBB, Cone > (const Cone &s, const Transform3s &tf, OBB &bv)
template<>
void	computeBV< OBB, Cylinder > (const Cylinder &s, const Transform3s &tf, OBB &bv)
template<>
void	computeBV< OBB, ConvexBase32 > (const ConvexBase32 &s, const Transform3s &tf, OBB &bv)
template<>
void	computeBV< OBB, ConvexBase16 > (const ConvexBase16 &s, const Transform3s &tf, OBB &bv)
template<>
void	computeBV< OBB, Halfspace > (const Halfspace &s, const Transform3s &tf, OBB &bv)
template<>
void	computeBV< RSS, Halfspace > (const Halfspace &s, const Transform3s &tf, RSS &bv)
template<>
void	computeBV< OBBRSS, Halfspace > (const Halfspace &s, const Transform3s &tf, OBBRSS &bv)
template<>
void	computeBV< kIOS, Halfspace > (const Halfspace &s, const Transform3s &tf, kIOS &bv)
template<>
void	computeBV< KDOP< 16 >, Halfspace > (const Halfspace &s, const Transform3s &tf, KDOP< 16 > &bv)
template<>
void	computeBV< KDOP< 18 >, Halfspace > (const Halfspace &s, const Transform3s &tf, KDOP< 18 > &bv)
template<>
void	computeBV< KDOP< 24 >, Halfspace > (const Halfspace &s, const Transform3s &tf, KDOP< 24 > &bv)
template<>
void	computeBV< OBB, Plane > (const Plane &s, const Transform3s &tf, OBB &bv)
template<>
void	computeBV< RSS, Plane > (const Plane &s, const Transform3s &tf, RSS &bv)
template<>
void	computeBV< OBBRSS, Plane > (const Plane &s, const Transform3s &tf, OBBRSS &bv)
template<>
void	computeBV< kIOS, Plane > (const Plane &s, const Transform3s &tf, kIOS &bv)
template<>
void	computeBV< KDOP< 16 >, Plane > (const Plane &s, const Transform3s &tf, KDOP< 16 > &bv)
template<>
void	computeBV< KDOP< 18 >, Plane > (const Plane &s, const Transform3s &tf, KDOP< 18 > &bv)
template<>
void	computeBV< KDOP< 24 >, Plane > (const Plane &s, const Transform3s &tf, KDOP< 24 > &bv)
void	constructBox (const AABB &bv, Box &box, Transform3s &tf)
	construct a box shape (with a configuration) from a given bounding volume
void	constructBox (const OBB &bv, Box &box, Transform3s &tf)
void	constructBox (const OBBRSS &bv, Box &box, Transform3s &tf)
void	constructBox (const kIOS &bv, Box &box, Transform3s &tf)
void	constructBox (const RSS &bv, Box &box, Transform3s &tf)
void	constructBox (const KDOP< 16 > &bv, Box &box, Transform3s &tf)
void	constructBox (const KDOP< 18 > &bv, Box &box, Transform3s &tf)
void	constructBox (const KDOP< 24 > &bv, Box &box, Transform3s &tf)
void	constructBox (const AABB &bv, const Transform3s &tf_bv, Box &box, Transform3s &tf)
void	constructBox (const OBB &bv, const Transform3s &tf_bv, Box &box, Transform3s &tf)
void	constructBox (const OBBRSS &bv, const Transform3s &tf_bv, Box &box, Transform3s &tf)
void	constructBox (const kIOS &bv, const Transform3s &tf_bv, Box &box, Transform3s &tf)
void	constructBox (const RSS &bv, const Transform3s &tf_bv, Box &box, Transform3s &tf)
void	constructBox (const KDOP< 16 > &bv, const Transform3s &tf_bv, Box &box, Transform3s &tf)
void	constructBox (const KDOP< 18 > &bv, const Transform3s &tf_bv, Box &box, Transform3s &tf)
void	constructBox (const KDOP< 24 > &bv, const Transform3s &tf_bv, Box &box, Transform3s &tf)
Halfspace	transform (const Halfspace &a, const Transform3s &tf)
Plane	transform (const Plane &a, const Transform3s &tf)
std::array< Halfspace, 2 >	transformToHalfspaces (const Plane &a, const Transform3s &tf)
bool	obbDisjointAndLowerBoundDistance (const Matrix3s &B, const Vec3s &T, const Vec3s &a, const Vec3s &b, const CollisionRequest &request, Scalar &squaredLowerBoundDistance)

Variables
constexpr size_t	GJK_DEFAULT_MAX_ITERATIONS = 128
	GJK.
constexpr Scalar	GJK_DEFAULT_TOLERANCE = Scalar(1e-6)
constexpr Scalar	GJK_MINIMUM_TOLERANCE = Scalar(1e-6)
constexpr size_t	EPA_DEFAULT_MAX_ITERATIONS = 64
constexpr Scalar	EPA_DEFAULT_TOLERANCE = Scalar(1e-6)
constexpr Scalar	EPA_MINIMUM_TOLERANCE = Scalar(1e-6)

Detailed Description

Main namespace.

Author

Jia Pan

Justin Carpentier (justi.nosp@m.n.ca.nosp@m.rpent.nosp@m.ier@.nosp@m.inria.nosp@m..fr)

Sean Curtis (sean@.nosp@m.tri..nosp@m.globa.nosp@m.l)

Justin Carpentier (justi.nosp@m.n.ca.nosp@m.rpent.nosp@m.ier@.nosp@m.inria.nosp@m..fr)

Jia Pan

Jia Pan

Louis Montaut

Justin Carpentier

Joseph Mirabel

Authors

Jia Pan, Florent Lamiraux, Josef Mirabel, Louis Montaut

Author

Jia Pan, Florent Lamiraux

This file defines different macros used to characterize the default behavior of the narrowphase algorithms GJK and EPA.

Author

Lucile Remigy, Joseph Mirabel

Typedef Documentation

BroadPhaseContinuousCollisionManagerd

using coal::BroadPhaseContinuousCollisionManagerd = typedef BroadPhaseContinuousCollisionManager<Scalar>

BroadPhaseContinuousCollisionManagerf

using coal::BroadPhaseContinuousCollisionManagerf = typedef BroadPhaseContinuousCollisionManager<float>

BVHFrontList

typedef std::list<BVHFrontNode> coal::BVHFrontList

BVH front list is a list of front nodes.

BVHModelPtr_t

typedef shared_ptr<BVHModelBase> coal::BVHModelPtr_t

CoalScalar

typedef double coal::CoalScalar

CollisionGeometryConstPtr_t

typedef shared_ptr<const CollisionGeometry> coal::CollisionGeometryConstPtr_t

CollisionGeometryPtr_t

typedef shared_ptr<CollisionGeometry> coal::CollisionGeometryPtr_t

CollisionObjectConstPtr_t

typedef shared_ptr<const CollisionObject> coal::CollisionObjectConstPtr_t

CollisionObjectPtr_t

typedef shared_ptr<CollisionObject> coal::CollisionObjectPtr_t

ContinuousCollisionCallBack

template<typename S >

using coal::ContinuousCollisionCallBack = typedef bool (*)(ContinuousCollisionObject* o1, ContinuousCollisionObject* o2, void* cdata)

Callback for continuous collision between two objects. Return value is whether can stop now.

ContinuousDistanceCallBack

template<typename S >

using coal::ContinuousDistanceCallBack = typedef bool (*)(ContinuousCollisionObject* o1, ContinuousCollisionObject* o2, S& dist)

Callback for continuous distance between two objects, Return value is whether can stop now, also return the minimum distance till now.

Convex16

typedef ConvexTpl<Triangle16> coal::Convex16

Convex32

typedef ConvexTpl<Triangle32> coal::Convex32

Matrix3s

typedef Eigen::Matrix<Scalar, 3, 3> coal::Matrix3s

MatrixX2s

typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 2, Eigen::RowMajor> coal::MatrixX2s

Matrixx3i

typedef Eigen::Matrix<Eigen::DenseIndex, Eigen::Dynamic, 3, Eigen::RowMajor> coal::Matrixx3i

MatrixX3s

typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 3, Eigen::RowMajor> coal::MatrixX3s

MatrixXs

typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> coal::MatrixXs

OcTreeConstPtr_t

typedef shared_ptr<const OcTree> coal::OcTreeConstPtr_t

OcTreePtr_t

typedef shared_ptr<OcTree> coal::OcTreePtr_t

Quadrilateral

typedef Quadrilateral32 coal::Quadrilateral

Quadrilateral16

typedef QuadrilateralTpl<std::uint16_t> coal::Quadrilateral16

Quadrilateral32

typedef QuadrilateralTpl<std::uint32_t> coal::Quadrilateral32

Quaternion3f

typedef Eigen::Quaternion<Scalar> coal::Quaternion3f

Quats

typedef Eigen::Quaternion<Scalar> coal::Quats

Scalar

typedef double coal::Scalar

SolverScalar

typedef double coal::SolverScalar

support_func_guess_t

typedef Eigen::Vector2i coal::support_func_guess_t

SupportSet

using coal::SupportSet = typedef ContactPatch

Structure used for internal computations. A support set and a contact patch can be represented by the same structure. In fact, a contact patch is the intersection of two support sets, one with PatchDirection::DEFAULT and one with PatchDirection::INVERTED.

Note

A support set with DEFAULT direction is the support set of a shape in the direction given by +n, where n is the z-axis of the frame's patch rotation. An INVERTED support set is the support set of a shape in the direction -n.

Triangle

typedef Triangle32 coal::Triangle

Triangle16

typedef TriangleTpl<std::uint16_t> coal::Triangle16

Triangle32

typedef TriangleTpl<std::uint32_t> coal::Triangle32

Vec2s

typedef Eigen::Matrix<Scalar, 2, 1> coal::Vec2s

Vec3ps

typedef Eigen::Matrix<SolverScalar, 3, 1> coal::Vec3ps

Vec3s

typedef Eigen::Matrix<Scalar, 3, 1> coal::Vec3s

Vec6s

typedef Eigen::Matrix<Scalar, 6, 1> coal::Vec6s

VecXs

typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1> coal::VecXs

Enumeration Type Documentation

BVHBuildState

enum coal::BVHBuildState

States for BVH construction empty->begun->processed ->replace_begun->processed -> ...... | |-> update_begun -> updated -> .....

Enumerator
BVH_BUILD_STATE_EMPTY
BVH_BUILD_STATE_BEGUN	empty state, immediately after constructor
BVH_BUILD_STATE_PROCESSED	after beginModel(), state for adding geometry primitives
BVH_BUILD_STATE_UPDATE_BEGUN	after tree has been build, ready for cd use
BVH_BUILD_STATE_UPDATED	after beginUpdateModel(), state for updating geometry primitives
BVH_BUILD_STATE_REPLACE_BEGUN	after tree has been build for updated geometry, ready for ccd use after beginReplaceModel(), state for replacing geometry primitives

BVHModelType

enum coal::BVHModelType

BVH model type.

Enumerator
BVH_MODEL_UNKNOWN
BVH_MODEL_TRIANGLES	unknown model type
BVH_MODEL_POINTCLOUD	triangle model point cloud model

BVHReturnCode

enum coal::BVHReturnCode

Error code for BVH.

Enumerator
BVH_OK
BVH_ERR_MODEL_OUT_OF_MEMORY	BVH is valid.
BVH_ERR_BUILD_OUT_OF_SEQUENCE	Cannot allocate memory for vertices and triangles.
BVH_ERR_BUILD_EMPTY_MODEL	BVH construction does not follow correct sequence.
BVH_ERR_BUILD_EMPTY_PREVIOUS_FRAME	BVH geometry is not prepared.
BVH_ERR_UNSUPPORTED_FUNCTION	BVH geometry in previous frame is not prepared.
BVH_ERR_UNUPDATED_MODEL	BVH funtion is not supported.
BVH_ERR_INCORRECT_DATA	BVH model update failed.
BVH_ERR_UNKNOWN	BVH data is not valid.

CollisionRequestFlag

enum coal::CollisionRequestFlag

flag declaration for specifying required params in CollisionResult

Enumerator
CONTACT
DISTANCE_LOWER_BOUND
NO_REQUEST

GJKConvergenceCriterion

enum coal::GJKConvergenceCriterion

Which convergence criterion is used to stop the algorithm (when the shapes are not in collision). (default) VDB: Van den Bergen (A Fast and Robust GJK Implementation, 1999) DG: duality-gap, as used in the Frank-Wolfe and the vanilla 1988 GJK algorithms Hybrid: a mix between VDB and DG.

Enumerator
Default
DualityGap
Hybrid

GJKConvergenceCriterionType

enum coal::GJKConvergenceCriterionType

Wether the convergence criterion is scaled on the norm of the solution or not.

Enumerator
Relative
Absolute

GJKInitialGuess

enum coal::GJKInitialGuess

Initial guess to use for the GJK algorithm DefaultGuess: Vec3s(1, 0, 0) CachedGuess: previous vector found by GJK or guess cached by the user BoundingVolumeGuess: guess using the centers of the shapes' AABB WARNING: to use BoundingVolumeGuess, computeLocalAABB must have been called on the two shapes.

Enumerator
DefaultGuess
CachedGuess
BoundingVolumeGuess

GJKVariant

enum coal::GJKVariant

Variant to use for the GJK algorithm.

Enumerator
DefaultGJK
PolyakAcceleration
NesterovAcceleration

NODE_TYPE

enum coal::NODE_TYPE

traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS, KDOP16, KDOP18, kDOP24), basic shape (box, sphere, ellipsoid, capsule, cone, cylinder, convex, plane, triangle), and octree

Enumerator
BV_UNKNOWN
BV_AABB
BV_OBB
BV_RSS
BV_kIOS
BV_OBBRSS
BV_KDOP16
BV_KDOP18
BV_KDOP24
GEOM_BOX
GEOM_SPHERE
GEOM_CAPSULE
GEOM_CONE
GEOM_CYLINDER
GEOM_CONVEX16
GEOM_CONVEX32
GEOM_CONVEX
GEOM_PLANE
GEOM_HALFSPACE
GEOM_TRIANGLE
GEOM_OCTREE
GEOM_ELLIPSOID
HF_AABB
HF_OBBRSS
NODE_COUNT

OBJECT_TYPE

enum coal::OBJECT_TYPE

object type: BVH (mesh, points), basic geometry, octree

Enumerator
OT_UNKNOWN
OT_BVH
OT_GEOM
OT_OCTREE
OT_HFIELD
OT_COUNT

SplitMethodType

enum coal::SplitMethodType

Three types of split algorithms are provided in FCL as default.

Enumerator
SPLIT_METHOD_MEAN
SPLIT_METHOD_MEDIAN
SPLIT_METHOD_BV_CENTER

Function Documentation

BVHExtract() [1/9]

template<>

BVHModel< AABB > * coal::BVHExtract	(	const BVHModel< AABB > &	model,
		const Transform3s &	pose,
		const AABB &	aabb
	)

BVHExtract() [2/9]

template<typename BV >

BVHModel< BV > * coal::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.

BVHExtract() [3/9]

template<>

BVHModel< KDOP< 16 > > * coal::BVHExtract	(	const BVHModel< KDOP< 16 > > &	model,
		const Transform3s &	pose,
		const AABB &	aabb
	)

BVHExtract() [4/9]

template<>

BVHModel< KDOP< 18 > > * coal::BVHExtract	(	const BVHModel< KDOP< 18 > > &	model,
		const Transform3s &	pose,
		const AABB &	aabb
	)

BVHExtract() [5/9]

template<>

BVHModel< KDOP< 24 > > * coal::BVHExtract	(	const BVHModel< KDOP< 24 > > &	model,
		const Transform3s &	pose,
		const AABB &	aabb
	)

BVHExtract() [6/9]

template<>

BVHModel< kIOS > * coal::BVHExtract	(	const BVHModel< kIOS > &	model,
		const Transform3s &	pose,
		const AABB &	aabb
	)

BVHExtract() [7/9]

template<>

BVHModel< OBB > * coal::BVHExtract	(	const BVHModel< OBB > &	model,
		const Transform3s &	pose,
		const AABB &	aabb
	)

BVHExtract() [8/9]

template<>

BVHModel< OBBRSS > * coal::BVHExtract	(	const BVHModel< OBBRSS > &	model,
		const Transform3s &	pose,
		const AABB &	aabb
	)

BVHExtract() [9/9]

template<>

BVHModel< RSS > * coal::BVHExtract	(	const BVHModel< RSS > &	model,
		const Transform3s &	pose,
		const AABB &	aabb
	)

circumCircleComputation()

void coal::circumCircleComputation	(	const Vec3s &	a,
		const Vec3s &	b,
		const Vec3s &	c,
		Vec3s &	center,
		Scalar &	radius
	)

Compute the center and radius for a triangle's circumcircle.

collide() [1/2]

std::size_t coal::collide	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const CollisionRequest &	request,
		CollisionResult &	result
	)

collide() [2/2]

std::size_t coal::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.

computeBV()

template<typename BV , typename S >

void coal::computeBV ( const S &  s, const Transform3s &  tf, BV &  bv  )

inline

calculate a bounding volume for a shape in a specific configuration

computeBV< AABB, Box >()

template<>

void coal::computeBV< AABB, Box >	(	const Box &	s,
		const Transform3s &	tf,
		AABB &	bv
	)

computeBV< AABB, Capsule >()

template<>

void coal::computeBV< AABB, Capsule >	(	const Capsule &	s,
		const Transform3s &	tf,
		AABB &	bv
	)

computeBV< AABB, Cone >()

template<>

void coal::computeBV< AABB, Cone >	(	const Cone &	s,
		const Transform3s &	tf,
		AABB &	bv
	)

computeBV< AABB, ConvexBase16 >()

template<>

void coal::computeBV< AABB, ConvexBase16 >	(	const ConvexBase16 &	s,
		const Transform3s &	tf,
		AABB &	bv
	)

computeBV< AABB, ConvexBase32 >()

template<>

void coal::computeBV< AABB, ConvexBase32 >	(	const ConvexBase32 &	s,
		const Transform3s &	tf,
		AABB &	bv
	)

computeBV< AABB, Cylinder >()

template<>

void coal::computeBV< AABB, Cylinder >	(	const Cylinder &	s,
		const Transform3s &	tf,
		AABB &	bv
	)

computeBV< AABB, Ellipsoid >()

template<>

void coal::computeBV< AABB, Ellipsoid >	(	const Ellipsoid &	e,
		const Transform3s &	tf,
		AABB &	bv
	)

computeBV< AABB, Halfspace >()

template<>

void coal::computeBV< AABB, Halfspace >	(	const Halfspace &	s,
		const Transform3s &	tf,
		AABB &	bv
	)

computeBV< AABB, Plane >()

template<>

void coal::computeBV< AABB, Plane >	(	const Plane &	s,
		const Transform3s &	tf,
		AABB &	bv
	)

computeBV< AABB, Sphere >()

template<>

void coal::computeBV< AABB, Sphere >	(	const Sphere &	s,
		const Transform3s &	tf,
		AABB &	bv
	)

computeBV< AABB, TriangleP >()

template<>

void coal::computeBV< AABB, TriangleP >	(	const TriangleP &	s,
		const Transform3s &	tf,
		AABB &	bv
	)

computeBV< KDOP< 16 >, Halfspace >()

template<>

void coal::computeBV< KDOP< 16 >, Halfspace >	(	const Halfspace &	s,
		const Transform3s &	tf,
		KDOP< 16 > &	bv
	)

computeBV< KDOP< 16 >, Plane >()

template<>

void coal::computeBV< KDOP< 16 >, Plane >	(	const Plane &	s,
		const Transform3s &	tf,
		KDOP< 16 > &	bv
	)

computeBV< KDOP< 18 >, Halfspace >()

template<>

void coal::computeBV< KDOP< 18 >, Halfspace >	(	const Halfspace &	s,
		const Transform3s &	tf,
		KDOP< 18 > &	bv
	)

computeBV< KDOP< 18 >, Plane >()

template<>

void coal::computeBV< KDOP< 18 >, Plane >	(	const Plane &	s,
		const Transform3s &	tf,
		KDOP< 18 > &	bv
	)

computeBV< KDOP< 24 >, Halfspace >()

template<>

void coal::computeBV< KDOP< 24 >, Halfspace >	(	const Halfspace &	s,
		const Transform3s &	tf,
		KDOP< 24 > &	bv
	)

computeBV< KDOP< 24 >, Plane >()

template<>

void coal::computeBV< KDOP< 24 >, Plane >	(	const Plane &	s,
		const Transform3s &	tf,
		KDOP< 24 > &	bv
	)

computeBV< kIOS, Halfspace >()

template<>

void coal::computeBV< kIOS, Halfspace >	(	const Halfspace &	s,
		const Transform3s &	tf,
		kIOS &	bv
	)

computeBV< kIOS, Plane >()

template<>

void coal::computeBV< kIOS, Plane >	(	const Plane &	s,
		const Transform3s &	tf,
		kIOS &	bv
	)

computeBV< OBB, Box >()

template<>

void coal::computeBV< OBB, Box >	(	const Box &	s,
		const Transform3s &	tf,
		OBB &	bv
	)

computeBV< OBB, Capsule >()

template<>

void coal::computeBV< OBB, Capsule >	(	const Capsule &	s,
		const Transform3s &	tf,
		OBB &	bv
	)

computeBV< OBB, Cone >()

template<>

void coal::computeBV< OBB, Cone >	(	const Cone &	s,
		const Transform3s &	tf,
		OBB &	bv
	)

computeBV< OBB, ConvexBase16 >()

template<>

void coal::computeBV< OBB, ConvexBase16 >	(	const ConvexBase16 &	s,
		const Transform3s &	tf,
		OBB &	bv
	)

computeBV< OBB, ConvexBase32 >()

template<>

void coal::computeBV< OBB, ConvexBase32 >	(	const ConvexBase32 &	s,
		const Transform3s &	tf,
		OBB &	bv
	)

computeBV< OBB, Cylinder >()

template<>

void coal::computeBV< OBB, Cylinder >	(	const Cylinder &	s,
		const Transform3s &	tf,
		OBB &	bv
	)

computeBV< OBB, Halfspace >()

template<>

void coal::computeBV< OBB, Halfspace >	(	const Halfspace &	s,
		const Transform3s &	tf,
		OBB &	bv
	)

computeBV< OBB, Plane >()

template<>

void coal::computeBV< OBB, Plane >	(	const Plane &	s,
		const Transform3s &	tf,
		OBB &	bv
	)

computeBV< OBB, Sphere >()

template<>

void coal::computeBV< OBB, Sphere >	(	const Sphere &	s,
		const Transform3s &	tf,
		OBB &	bv
	)

computeBV< OBBRSS, Halfspace >()

template<>

void coal::computeBV< OBBRSS, Halfspace >	(	const Halfspace &	s,
		const Transform3s &	tf,
		OBBRSS &	bv
	)

computeBV< OBBRSS, Plane >()

template<>

void coal::computeBV< OBBRSS, Plane >	(	const Plane &	s,
		const Transform3s &	tf,
		OBBRSS &	bv
	)

computeBV< RSS, Halfspace >()

template<>

void coal::computeBV< RSS, Halfspace >	(	const Halfspace &	s,
		const Transform3s &	tf,
		RSS &	bv
	)

computeBV< RSS, Plane >()

template<>

void coal::computeBV< RSS, Plane >	(	const Plane &	s,
		const Transform3s &	tf,
		RSS &	bv
	)

computeContactPatch() [1/2]

void coal::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.

Note

Please see ContactPatchRequest and ContactPatchResult for more info on the content of the input/output of this function. Also, please read ContactPatch if you want to fully understand what is meant by "contact patch".

computeContactPatch() [2/2]

void coal::computeContactPatch	(	const CollisionObject *	o1,
		const CollisionObject *	o2,
		const CollisionResult &	collision_result,
		const ContactPatchRequest &	request,
		ContactPatchResult &	result
	)

computeMemoryFootprint()

template<typename T >

size_t coal::computeMemoryFootprint

(

const T &

object

)

Returns the memory footpring of the input object. For POD objects, this function returns the result of sizeof(T)

Parameters

[in]

object

whose memory footprint needs to be evaluated.

Returns

the memory footprint of the input object.

computePatchPlaneOrHalfspace()

template<bool InvertShapes, typename OtherShapeType , typename PlaneOrHalfspace >

void coal::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.

Template Parameters

InvertShapes

set to true if the first shape of the collision pair is s2 and not s1 (if you had to invert (s1, tf1) and (s2, tf2) when calling this function).

constructBox() [1/16]

void coal::constructBox	(	const AABB &	bv,
		Box &	box,
		Transform3s &	tf
	)

construct a box shape (with a configuration) from a given bounding volume

constructBox() [2/16]

void coal::constructBox	(	const AABB &	bv,
		const Transform3s &	tf_bv,
		Box &	box,
		Transform3s &	tf
	)

constructBox() [3/16]

void coal::constructBox	(	const KDOP< 16 > &	bv,
		Box &	box,
		Transform3s &	tf
	)

constructBox() [4/16]

void coal::constructBox	(	const KDOP< 16 > &	bv,
		const Transform3s &	tf_bv,
		Box &	box,
		Transform3s &	tf
	)

constructBox() [5/16]

void coal::constructBox	(	const KDOP< 18 > &	bv,
		Box &	box,
		Transform3s &	tf
	)

constructBox() [6/16]

void coal::constructBox	(	const KDOP< 18 > &	bv,
		const Transform3s &	tf_bv,
		Box &	box,
		Transform3s &	tf
	)

constructBox() [7/16]

void coal::constructBox	(	const KDOP< 24 > &	bv,
		Box &	box,
		Transform3s &	tf
	)

constructBox() [8/16]

void coal::constructBox	(	const KDOP< 24 > &	bv,
		const Transform3s &	tf_bv,
		Box &	box,
		Transform3s &	tf
	)

constructBox() [9/16]

void coal::constructBox	(	const kIOS &	bv,
		Box &	box,
		Transform3s &	tf
	)

constructBox() [10/16]

void coal::constructBox	(	const kIOS &	bv,
		const Transform3s &	tf_bv,
		Box &	box,
		Transform3s &	tf
	)

constructBox() [11/16]

void coal::constructBox	(	const OBB &	bv,
		Box &	box,
		Transform3s &	tf
	)

constructBox() [12/16]

void coal::constructBox	(	const OBB &	bv,
		const Transform3s &	tf_bv,
		Box &	box,
		Transform3s &	tf
	)

constructBox() [13/16]

void coal::constructBox	(	const OBBRSS &	bv,
		Box &	box,
		Transform3s &	tf
	)

constructBox() [14/16]

void coal::constructBox	(	const OBBRSS &	bv,
		const Transform3s &	tf_bv,
		Box &	box,
		Transform3s &	tf
	)

constructBox() [15/16]

void coal::constructBox	(	const RSS &	bv,
		Box &	box,
		Transform3s &	tf
	)

constructBox() [16/16]

void coal::constructBox	(	const RSS &	bv,
		const Transform3s &	tf_bv,
		Box &	box,
		Transform3s &	tf
	)

constructContactPatchFrameFromContact()

void coal::constructContactPatchFrameFromContact ( const Contact &  contact, ContactPatch &  contact_patch  )

inline

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.

constructOrthonormalBasisFromVector()

Matrix3s coal::constructOrthonormalBasisFromVector ( const Vec3s &  vec )

inline

Construct othonormal basis from vector. The z-axis is the normalized input vector.

defaultCollisionFunction()

bool coal::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.

This callback will cause the broadphase evaluation to stop if:

• the collision requests disables cost and
• the collide() reports a collision for the culled pair, and
• we've reported the number of contacts requested in the CollisionRequest.

For a given instance of CollisionData, if broadphase evaluation has already terminated (i.e., defaultCollisionFunction() returned true), subsequent invocations with the same instance of CollisionData will return immediately, requesting termination of broadphase evaluation (i.e., return true).

Parameters

o1	The first object in the culled pair.
o2	The second object in the culled pair.
data	A non-null pointer to a CollisionData instance.

Returns

true if the broadphase evaluation should stop.

Template Parameters

S	The scalar type with which the computation will be performed.

defaultDistanceFunction()

bool coal::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).

Provides a simple callback for the continuous collision query in the BroadPhaseCollisionManager. It assumes the data parameter is non-null and points to an instance of DefaultContinuousCollisionData. It simply invokes the collide() method on the culled pair of geometries and stores the results in the data's ContinuousCollisionResult instance.

This callback will never cause the broadphase evaluation to terminate early. However, if the done member of the DefaultContinuousCollisionData is set to true, this method will simply return without doing any computation.

For a given instance of DefaultContinuousCollisionData, if broadphase evaluation has already terminated (i.e., DefaultContinuousCollisionFunction() returned true), subsequent invocations with the same instance of CollisionData will return immediately, requesting termination of broadphase evaluation (i.e., return true).

Parameters

o1	The first object in the culled pair.
o2	The second object in the culled pair.
data	A non-null pointer to a CollisionData instance.

Returns

True if the broadphase evaluation should stop.

Template Parameters

S	The scalar type with which the computation will be performed.

Provides a simple callback for the distance query in the BroadPhaseCollisionManager. It assumes the data parameter is non-null and points to an instance of DistanceData. It simply invokes the distance() method on the culled pair of geometries and stores the results in the data's DistanceResult instance.

This callback will cause the broadphase evaluation to stop if:

• The distance is less than or equal to zero (i.e., the pair is in contact).

For a given instance of DistanceData, if broadphase evaluation has already terminated (i.e., defaultDistanceFunction() returned true), subsequent invocations with the same instance of DistanceData will simply report the previously reported minimum distance and request termination of broadphase evaluation (i.e., return true).

Parameters

o1	The first object in the culled pair.
o2	The second object in the culled pair.
data	A non-null pointer to a DistanceData instance.
dist	The distance computed by distance().

Returns

true if the broadphase evaluation should stop.

Template Parameters

S	The scalar type with which the computation will be performed.

distance() [1/5]

Scalar coal::distance	(	const CollisionGeometry *	o1,
		const Transform3s &	tf1,
		const CollisionGeometry *	o2,
		const Transform3s &	tf2,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

distance() [2/5]

Scalar coal::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.

distance() [3/5]

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.

Todo:

P and Q is not returned, need implementation

distance() [4/5]

Scalar coal::distance ( const Matrix3s &  R0, const Vec3s &  T0, const OBBRSS &  b1, const OBBRSS &  b2, Vec3s *  P = NULL, Vec3s *  Q = NULL  )

inline

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.

distance() [5/5]

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)

eigen()

template<typename Derived , typename Vector >

void coal::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

extract()

CollisionGeometry * coal::extract	(	const CollisionGeometry *	model,
		const Transform3s &	pose,
		const AABB &	aabb
	)

fit()

template<typename BV >

void coal::fit	(	Vec3s *	ps,
		unsigned int	n,
		BV &	bv
	)

Compute a bounding volume that fits a set of n points.

fit< AABB >()

template<>

void coal::fit< AABB >	(	Vec3s *	ps,
		unsigned int	n,
		AABB &	bv
	)

fit< kIOS >()

template<>

void coal::fit< kIOS >	(	Vec3s *	ps,
		unsigned int	n,
		kIOS &	bv
	)

fit< OBB >()

template<>

void coal::fit< OBB >	(	Vec3s *	ps,
		unsigned int	n,
		OBB &	bv
	)

fit< OBBRSS >()

template<>

void coal::fit< OBBRSS >	(	Vec3s *	ps,
		unsigned int	n,
		OBBRSS &	bv
	)

fit< RSS >()

template<>

void coal::fit< RSS >	(	Vec3s *	ps,
		unsigned int	n,
		RSS &	bv
	)

fromAxisAngle()

template<typename Derived >

Quats coal::fromAxisAngle ( const Eigen::MatrixBase< Derived > &  axis, Scalar  angle  )

inline

generateBVHModel() [1/7]

template<typename BV >

void coal::generateBVHModel	(	BVHModel< BV > &	model,
		const Box &	shape,
		const Transform3s &	pose
	)

Generate BVH model from box.

generateBVHModel() [2/7]

template<typename BV >

void coal::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.

generateBVHModel() [3/7]

template<typename BV >

void coal::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.

generateBVHModel() [4/7]

template<typename BV >

void coal::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.

generateBVHModel() [5/7]

template<typename BV >

void coal::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.

generateBVHModel() [6/7]

template<typename BV >

void coal::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.

generateBVHModel() [7/7]

template<typename BV >

void coal::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.

generateCoordinateSystem()

template<typename Derived1 , typename Derived2 , typename Derived3 >

void coal::generateCoordinateSystem	(	const Eigen::MatrixBase< Derived1 > &	_w,
		const Eigen::MatrixBase< Derived2 > &	_u,
		const Eigen::MatrixBase< Derived3 > &	_v
	)

get_node_type_name()

const char * coal::get_node_type_name ( NODE_TYPE  node_type )

inline

Returns the name associated to a NODE_TYPE.

get_object_type_name()

const char * coal::get_object_type_name ( OBJECT_TYPE  object_type )

inline

Returns the name associated to a OBJECT_TYPE.

getCovariance()

void coal::getCovariance	(	Vec3s *	ps,
		Vec3s *	ps2,
		Triangle32 *	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.

getExtentAndCenter()

void coal::getExtentAndCenter	(	Vec3s *	ps,
		Vec3s *	ps2,
		Triangle32 *	ts,
		unsigned int *	indices,
		unsigned int	n,
		Matrix3s &	axes,
		Vec3s &	center,
		Vec3s &	extent
	)

Compute the bounding volume extent and center for a set or subset of points, given the BV axises.

getRadiusAndOriginAndRectangleSize()

void coal::getRadiusAndOriginAndRectangleSize	(	Vec3s *	ps,
		Vec3s *	ps2,
		Triangle32 *	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.

isEqual()

template<typename Derived , typename OtherDerived >

bool coal::isEqual	(	const Eigen::MatrixBase< Derived > &	lhs,
		const Eigen::MatrixBase< OtherDerived > &	rhs,
		const Scalar	tol = std::numeric_limits<Scalar>::epsilon() * 100
	)

loadPolyhedronFromResource()

template<class BoundingVolume >

void coal::loadPolyhedronFromResource ( const std::string &  resource_path, const coal::Vec3s &  scale, const shared_ptr< BVHModel< BoundingVolume > > &  polyhedron  )

inline

Read a mesh file and convert it to a polyhedral mesh.

Parameters

[in]	resource_path	Path to the ressource mesh file to be read
[in]	scale	Scale to apply when reading the ressource
[out]	polyhedron	The resulted polyhedron

makeOctree()

OcTreePtr_t coal::makeOctree	(	const Eigen::Matrix< Scalar, Eigen::Dynamic, 3 > &	point_cloud,
		const Scalar	resolution
	)

Build an OcTree from a point cloud and a given resolution.

Parameters

[in]	point_cloud	The input points to insert in the OcTree
[in]	resolution	of the octree.

Returns

An OcTree that can be used for collision checking and more.

maximumDistance()

Scalar coal::maximumDistance	(	Vec3s *	ps,
		Vec3s *	ps2,
		Triangle32 *	ts,
		unsigned int *	indices,
		unsigned int	n,
		const Vec3s &	query
	)

Compute the maximum distance from a given center point to a point cloud.

obbDisjoint()

bool coal::obbDisjoint	(	const Matrix3s &	B,
		const Vec3s &	T,
		const Vec3s &	a,
		const Vec3s &	b
	)

Check collision between two boxes

Parameters

B,T	orientation and position of first box,
a	half dimensions of first box,
b	half dimensions of second box. The second box is in identity configuration.

obbDisjointAndLowerBoundDistance()

bool coal::obbDisjointAndLowerBoundDistance	(	const Matrix3s &	B,
		const Vec3s &	T,
		const Vec3s &	a,
		const Vec3s &	b,
		const CollisionRequest &	request,
		Scalar &	squaredLowerBoundDistance
	)

operator&()

CollisionRequestFlag coal::operator& ( CollisionRequestFlag  a, CollisionRequestFlag  b  )

inline

operator&=()

CollisionRequestFlag & coal::operator&= ( CollisionRequestFlag &  a, CollisionRequestFlag  b  )

inline

operator^()

CollisionRequestFlag coal::operator^ ( CollisionRequestFlag  a, CollisionRequestFlag  b  )

inline

operator^=()

CollisionRequestFlag & coal::operator^= ( CollisionRequestFlag &  a, CollisionRequestFlag  b  )

inline

operator|()

CollisionRequestFlag coal::operator| ( CollisionRequestFlag  a, CollisionRequestFlag  b  )

inline

operator|=()

CollisionRequestFlag & coal::operator|= ( CollisionRequestFlag &  a, CollisionRequestFlag  b  )

inline

operator~()

CollisionRequestFlag coal::operator~ ( CollisionRequestFlag  a )

inline

overlap() [1/12]

template<short N>

bool coal::overlap	(	const Matrix3s &	,
		const Vec3s &	,
		const KDOP< N > &	,
		const KDOP< N > &
	)

overlap() [2/12]

template<short N>

bool coal::overlap	(	const Matrix3s &	,
		const Vec3s &	,
		const KDOP< N > &	,
		const KDOP< N > &	,
		const CollisionRequest &	,
		Scalar &
	)

overlap() [3/12]

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.

overlap() [4/12]

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.

overlap() [5/12]

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.

Todo:

Not efficient

overlap() [6/12]

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.

Todo:

Not efficient

overlap() [7/12]

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.

overlap() [8/12]

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.

overlap() [9/12]

bool coal::overlap ( const Matrix3s &  R0, const Vec3s &  T0, const OBBRSS &  b1, const OBBRSS &  b2  )

inline

Check collision between two OBBRSS, b1 is in configuration (R0, T0) and b2 is in indentity.

overlap() [10/12]

bool coal::overlap ( const Matrix3s &  R0, const Vec3s &  T0, const OBBRSS &  b1, const OBBRSS &  b2, const CollisionRequest &  request, Scalar &  sqrDistLowerBound  )

inline

Check collision between two OBBRSS

Parameters

R0,T0	configuration of b1
b1	first OBBRSS in configuration (R0, T0)
b2	second OBBRSS in identity position

Return values

sqrDistLowerBound

squared lower bound on the distance if OBBRSS do not overlap.

overlap() [11/12]

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.

overlap() [12/12]

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.

relativeTransform()

template<typename Derived , typename OtherDerived >

void coal::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
	)

reorderTriangle()

template<typename IndexType >

void coal::reorderTriangle	(	const ConvexTpl< TriangleTpl< IndexType > > *	convex_tri,
		TriangleTpl< IndexType > &	tri
	)

ShapeShapeContactPatch()

template<typename ShapeType1 , typename ShapeType2 >

void coal::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
	)

transform() [1/2]

Halfspace coal::transform	(	const Halfspace &	a,
		const Transform3s &	tf
	)

transform() [2/2]

Plane coal::transform	(	const Plane &	a,
		const Transform3s &	tf
	)

transformToHalfspaces()

std::array< Halfspace, 2 > coal::transformToHalfspaces	(	const Plane &	a,
		const Transform3s &	tf
	)

translate() [1/3]

template<short N>

KDOP< N > coal::translate	(	const KDOP< N > &	bv,
		const Vec3s &	t
	)

translate the KDOP BV

translate() [2/3]

kIOS coal::translate	(	const kIOS &	bv,
		const Vec3s &	t
	)

Translate the kIOS BV.

translate() [3/3]

OBB coal::translate	(	const OBB &	bv,
		const Vec3s &	t
	)

Translate the OBB bv.

uniformRandomQuaternion()

Quats coal::uniformRandomQuaternion ( )

inline

Uniformly random quaternion sphere. Code taken from Pinocchio (https://github.com/stack-of-tasks/pinocchio).

updateFrontList()

void coal::updateFrontList ( BVHFrontList *  front_list, unsigned int  b1, unsigned int  b2  )

inline

Add new front node into the front list.

Variable Documentation

EPA_DEFAULT_MAX_ITERATIONS

constexpr size_t coal::EPA_DEFAULT_MAX_ITERATIONS = 64

constexpr

EPA EPA build a polytope which maximum size is:

• #iterations + 4 vertices
• 2 x #iterations + 4 faces

EPA_DEFAULT_TOLERANCE

constexpr Scalar coal::EPA_DEFAULT_TOLERANCE = Scalar(1e-6)

constexpr

EPA_MINIMUM_TOLERANCE

constexpr Scalar coal::EPA_MINIMUM_TOLERANCE = Scalar(1e-6)

constexpr

GJK_DEFAULT_MAX_ITERATIONS

constexpr size_t coal::GJK_DEFAULT_MAX_ITERATIONS = 128

constexpr

GJK.

GJK_DEFAULT_TOLERANCE

constexpr Scalar coal::GJK_DEFAULT_TOLERANCE = Scalar(1e-6)

constexpr

GJK_MINIMUM_TOLERANCE

constexpr Scalar coal::GJK_MINIMUM_TOLERANCE = Scalar(1e-6)

constexpr

Note: if the considered shapes are on the order of the meter, and the convergence criterion of GJK is the default VDB criterion, setting a tolerance of 1e-6 on the GJK algorithm makes it precise up to the micro-meter. The same is true for EPA.