coal::details Namespace Reference

Classes
struct	UpdateBoundingVolume
struct	UpdateBoundingVolume< AABB >
struct	GJK
	class for GJK algorithm More...
struct	EPA
	class for EPA algorithm More...
struct	MinkowskiDiff
	Minkowski difference class of two shapes. More...
struct	ShapeSupportData
	Stores temporary data for the computation of support points. More...
struct	LargeConvex
	Cast a ConvexBase to a LargeConvex to use the log version of getShapeSupport. This is much faster than the linear version of getShapeSupport when a ConvexBase has more than a few dozen of vertices. More...
struct	SmallConvex
	See LargeConvex. More...

Enumerations
enum	SupportOptions { NoSweptSphere = 0 , WithSweptSphere = 0x1 }
	Options for the computation of support points. NoSweptSphere option is used when the support function is called by GJK or EPA. In this case, the swept sphere radius is not taken into account in the support function. It is used by GJK and EPA after they have converged to correct the solution. WithSweptSphere option is used when the support function is called directly by the user. In this case, the swept sphere radius is taken into account in the support function. More...

Functions
template<int _SupportOptions = SupportOptions::NoSweptSphere>
Vec3s	getSupport (const ShapeBase *shape, const Vec3s &dir, int &hint)
	the support function for shape. The output support point is expressed in the local frame of the shape. More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupport (const TriangleP *triangle, const Vec3s &dir, Vec3s &support, int &, ShapeSupportData &)
	Triangle support function. More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupport (const Box *box, const Vec3s &dir, Vec3s &support, int &, ShapeSupportData &)
	Box support function. More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupport (const Sphere *sphere, const Vec3s &dir, Vec3s &support, int &, ShapeSupportData &)
	Sphere support function. More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupport (const Ellipsoid *ellipsoid, const Vec3s &dir, Vec3s &support, int &, ShapeSupportData &)
	Ellipsoid support function. More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupport (const Capsule *capsule, const Vec3s &dir, Vec3s &support, int &, ShapeSupportData &)
	Capsule support function. More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupport (const Cone *cone, const Vec3s &dir, Vec3s &support, int &, ShapeSupportData &)
	Cone support function. More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupport (const Cylinder *cylinder, const Vec3s &dir, Vec3s &support, int &, ShapeSupportData &)
	Cylinder support function. More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupport (const ConvexBase *convex, const Vec3s &dir, Vec3s &support, int &hint, ShapeSupportData &)
	ConvexBase support function. More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupport (const SmallConvex *convex, const Vec3s &dir, Vec3s &support, int &hint, ShapeSupportData &data)
	Support function for large ConvexBase (>32 vertices). More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupport (const LargeConvex *convex, const Vec3s &dir, Vec3s &support, int &hint, ShapeSupportData &support_data)
	Support function for small ConvexBase (<32 vertices). More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getSupportSet (const ShapeBase *shape, SupportSet &support_set, int &hint, size_t num_sampled_supports=6, Scalar tol=Scalar(1e-3))
	Computes the support set for shape. This function assumes the frame of the support set has already been computed and that this frame is expressed w.r.t the local frame of the shape (i.e. the local frame of the shape is the WORLD frame of the support set). The support direction used to compute the support set is the positive z-axis if the support set has the DEFAULT direction; negative z-axis if it has the INVERTED direction. (In short, a shape's support set is has the DEFAULT direction if the shape is the first shape in a collision pair. It has the INVERTED direction if the shape is the second one in the collision pair). More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getSupportSet (const ShapeBase *shape, const Vec3s &dir, SupportSet &support_set, int &hint, size_t num_sampled_supports=6, Scalar tol=Scalar(1e-3))
	Same as getSupportSet(const ShapeBase*, const Scalar, SupportSet&, const int) but also constructs the support set frame from dir. More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupportSet (const TriangleP *triangle, SupportSet &support_set, int &, ShapeSupportData &, size_t num_sampled_supports=6, Scalar tol=Scalar(1e-3))
	Triangle support set function. Assumes the support set frame has already been computed. More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupportSet (const Box *box, SupportSet &support_set, int &, ShapeSupportData &support_data, size_t num_sampled_supports=6, Scalar tol=Scalar(1e-3))
	Box support set function. Assumes the support set frame has already been computed. More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupportSet (const Sphere *sphere, SupportSet &support_set, int &, ShapeSupportData &, size_t num_sampled_supports=6, Scalar tol=Scalar(1e-3))
	Sphere support set function. Assumes the support set frame has already been computed. More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupportSet (const Ellipsoid *ellipsoid, SupportSet &support_set, int &, ShapeSupportData &, size_t num_sampled_supports=6, Scalar tol=Scalar(1e-3))
	Ellipsoid support set function. Assumes the support set frame has already been computed. More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupportSet (const Capsule *capsule, SupportSet &support_set, int &, ShapeSupportData &, size_t num_sampled_supports=6, Scalar tol=Scalar(1e-3))
	Capsule support set function. Assumes the support set frame has already been computed. More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupportSet (const Cone *cone, SupportSet &support_set, int &, ShapeSupportData &, size_t num_sampled_supports=6, Scalar tol=Scalar(1e-3))
	Cone support set function. Assumes the support set frame has already been computed. More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupportSet (const Cylinder *cylinder, SupportSet &support_set, int &, ShapeSupportData &, size_t num_sampled_supports=6, Scalar tol=Scalar(1e-3))
	Cylinder support set function. Assumes the support set frame has already been computed. More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupportSet (const ConvexBase *convex, SupportSet &support_set, int &hint, ShapeSupportData &support_data, size_t num_sampled_supports=6, Scalar tol=Scalar(1e-3))
	ConvexBase support set function. Assumes the support set frame has already been computed. More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupportSet (const SmallConvex *convex, SupportSet &support_set, int &, ShapeSupportData &, size_t num_sampled_supports=6, Scalar tol=Scalar(1e-3))
	Support set function for large ConvexBase (>32 vertices). Assumes the support set frame has already been computed. More...
template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupportSet (const LargeConvex *convex, SupportSet &support_set, int &hint, ShapeSupportData &support_data, size_t num_sampled_supports=6, Scalar tol=Scalar(1e-3))
	Support set function for small ConvexBase (<32 vertices). Assumes the support set frame has already been computed. More...
void	computeSupportSetConvexHull (SupportSet::Polygon &cloud, SupportSet::Polygon &cvx_hull)
	Computes the convex-hull of support_set. For now, this function is only needed for Box and ConvexBase. More...
Scalar	sphereCapsuleDistance (const Sphere &s1, const Transform3s &tf1, const Capsule &s2, const Transform3s &tf2, Vec3s &p1, Vec3s &p2, Vec3s &normal)
Scalar	sphereCylinderDistance (const Sphere &s1, const Transform3s &tf1, const Cylinder &s2, const Transform3s &tf2, Vec3s &p1, Vec3s &p2, Vec3s &normal)
Scalar	sphereSphereDistance (const Sphere &s1, const Transform3s &tf1, const Sphere &s2, const Transform3s &tf2, Vec3s &p1, Vec3s &p2, Vec3s &normal)
Scalar	segmentSqrDistance (const Vec3s &from, const Vec3s &to, const Vec3s &p, Vec3s &nearest)
	the minimum distance from a point to a line More...
bool	projectInTriangle (const Vec3s &p1, const Vec3s &p2, const Vec3s &p3, const Vec3s &normal, const Vec3s &p)
	Whether a point's projection is in a triangle. More...
Scalar	sphereTriangleDistance (const Sphere &s, const Transform3s &tf1, const TriangleP &tri, const Transform3s &tf2, Vec3s &p1, Vec3s &p2, Vec3s &normal)
Scalar	halfspaceDistance (const Halfspace &h, const Transform3s &tf1, const ShapeBase &s, const Transform3s &tf2, Vec3s &p1, Vec3s &p2, Vec3s &normal)
Scalar	planeDistance (const Plane &plane, const Transform3s &tf1, const ShapeBase &s, const Transform3s &tf2, Vec3s &p1, Vec3s &p2, Vec3s &normal)
Scalar	boxSphereDistance (const Box &b, const Transform3s &tfb, const Sphere &s, const Transform3s &tfs, Vec3s &pb, Vec3s &ps, Vec3s &normal)
Scalar	halfspaceHalfspaceDistance (const Halfspace &s1, const Transform3s &tf1, const Halfspace &s2, const Transform3s &tf2, Vec3s &p1, Vec3s &p2, Vec3s &normal)
	return distance between two halfspaces More...
Scalar	halfspacePlaneDistance (const Halfspace &s1, const Transform3s &tf1, const Plane &s2, const Transform3s &tf2, Vec3s &p1, Vec3s &p2, Vec3s &normal)
	return distance between plane and halfspace. More...
Scalar	planePlaneDistance (const Plane &s1, const Transform3s &tf1, const Plane &s2, const Transform3s &tf2, Vec3s &p1, Vec3s &p2, Vec3s &normal)
	return distance between two planes More...
Scalar	computePenetration (const Vec3s &P1, const Vec3s &P2, const Vec3s &P3, const Vec3s &Q1, const Vec3s &Q2, const Vec3s &Q3, Vec3s &normal)
	See the prototype below. More...
Scalar	computePenetration (const Vec3s &P1, const Vec3s &P2, const Vec3s &P3, const Vec3s &Q1, const Vec3s &Q2, const Vec3s &Q3, const Transform3s &tf1, const Transform3s &tf2, Vec3s &normal)

Enumeration Type Documentation

SupportOptions

enum coal::details::SupportOptions

Options for the computation of support points. NoSweptSphere option is used when the support function is called by GJK or EPA. In this case, the swept sphere radius is not taken into account in the support function. It is used by GJK and EPA after they have converged to correct the solution. WithSweptSphere option is used when the support function is called directly by the user. In this case, the swept sphere radius is taken into account in the support function.

Enumerator
NoSweptSphere
WithSweptSphere

Function Documentation

boxSphereDistance()

Scalar coal::details::boxSphereDistance ( const Box &  b, const Transform3s &  tfb, const Sphere &  s, const Transform3s &  tfs, Vec3s &  pb, Vec3s &  ps, Vec3s &  normal  )

inline

Taken from book Real Time Collision Detection, from Christer Ericson

Parameters

pb	the witness point on the box surface
ps	the witness point on the sphere.
normal	pointing from box to sphere

Returns

the distance between the two shapes (negative if penetration).

computePenetration() [1/2]

Scalar coal::details::computePenetration ( const Vec3s &  P1, const Vec3s &  P2, const Vec3s &  P3, const Vec3s &  Q1, const Vec3s &  Q2, const Vec3s &  Q3, const Transform3s &  tf1, const Transform3s &  tf2, Vec3s &  normal  )

inline

computePenetration() [2/2]

Scalar coal::details::computePenetration ( const Vec3s &  P1, const Vec3s &  P2, const Vec3s &  P3, const Vec3s &  Q1, const Vec3s &  Q2, const Vec3s &  Q3, Vec3s &  normal  )

inline

See the prototype below.

computeSupportSetConvexHull()

void coal::details::computeSupportSetConvexHull	(	SupportSet::Polygon &	cloud,
		SupportSet::Polygon &	cvx_hull
	)

Computes the convex-hull of support_set. For now, this function is only needed for Box and ConvexBase.

Parameters

[in]	cloud	data which contains the 2d points of the support set which convex-hull we want to compute.
[out]	2d	points of the the support set's convex-hull.

getShapeSupport() [1/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupport	(	const Box *	box,
		const Vec3s &	dir,
		Vec3s &	support,
		int &	,
		ShapeSupportData &
	)

Box support function.

getShapeSupport() [2/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupport	(	const Capsule *	capsule,
		const Vec3s &	dir,
		Vec3s &	support,
		int &	,
		ShapeSupportData &
	)

Capsule support function.

getShapeSupport() [3/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupport	(	const Cone *	cone,
		const Vec3s &	dir,
		Vec3s &	support,
		int &	,
		ShapeSupportData &
	)

Cone support function.

getShapeSupport() [4/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupport	(	const ConvexBase *	convex,
		const Vec3s &	dir,
		Vec3s &	support,
		int &	hint,
		ShapeSupportData &
	)

ConvexBase support function.

Note

See LargeConvex and SmallConvex to see how to optimize ConvexBase's support computation.

getShapeSupport() [5/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupport	(	const Cylinder *	cylinder,
		const Vec3s &	dir,
		Vec3s &	support,
		int &	,
		ShapeSupportData &
	)

Cylinder support function.

getShapeSupport() [6/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupport	(	const Ellipsoid *	ellipsoid,
		const Vec3s &	dir,
		Vec3s &	support,
		int &	,
		ShapeSupportData &
	)

Ellipsoid support function.

getShapeSupport() [7/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupport	(	const LargeConvex *	convex,
		const Vec3s &	dir,
		Vec3s &	support,
		int &	hint,
		ShapeSupportData &	support_data
	)

Support function for small ConvexBase (<32 vertices).

getShapeSupport() [8/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupport	(	const SmallConvex *	convex,
		const Vec3s &	dir,
		Vec3s &	support,
		int &	hint,
		ShapeSupportData &	data
	)

Support function for large ConvexBase (>32 vertices).

getShapeSupport() [9/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupport	(	const Sphere *	sphere,
		const Vec3s &	dir,
		Vec3s &	support,
		int &	,
		ShapeSupportData &
	)

Sphere support function.

getShapeSupport() [10/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupport	(	const TriangleP *	triangle,
		const Vec3s &	dir,
		Vec3s &	support,
		int &	,
		ShapeSupportData &
	)

Triangle support function.

getShapeSupportSet() [1/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupportSet	(	const Box *	box,
		SupportSet &	support_set,
		int &	,
		ShapeSupportData &	support_data,
		size_t	num_sampled_supports = 6,
		Scalar	tol = Scalar(1e-3)
	)

Box support set function. Assumes the support set frame has already been computed.

getShapeSupportSet() [2/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupportSet	(	const Capsule *	capsule,
		SupportSet &	support_set,
		int &	,
		ShapeSupportData &	,
		size_t	num_sampled_supports = 6,
		Scalar	tol = Scalar(1e-3)
	)

Capsule support set function. Assumes the support set frame has already been computed.

getShapeSupportSet() [3/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupportSet	(	const Cone *	cone,
		SupportSet &	support_set,
		int &	,
		ShapeSupportData &	,
		size_t	num_sampled_supports = 6,
		Scalar	tol = Scalar(1e-3)
	)

Cone support set function. Assumes the support set frame has already been computed.

getShapeSupportSet() [4/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupportSet	(	const ConvexBase *	convex,
		SupportSet &	support_set,
		int &	hint,
		ShapeSupportData &	support_data,
		size_t	num_sampled_supports = 6,
		Scalar	tol = Scalar(1e-3)
	)

ConvexBase support set function. Assumes the support set frame has already been computed.

Note

See LargeConvex and SmallConvex to see how to optimize ConvexBase's support computation.

getShapeSupportSet() [5/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupportSet	(	const Cylinder *	cylinder,
		SupportSet &	support_set,
		int &	,
		ShapeSupportData &	,
		size_t	num_sampled_supports = 6,
		Scalar	tol = Scalar(1e-3)
	)

Cylinder support set function. Assumes the support set frame has already been computed.

getShapeSupportSet() [6/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupportSet	(	const Ellipsoid *	ellipsoid,
		SupportSet &	support_set,
		int &	,
		ShapeSupportData &	,
		size_t	num_sampled_supports = 6,
		Scalar	tol = Scalar(1e-3)
	)

Ellipsoid support set function. Assumes the support set frame has already been computed.

getShapeSupportSet() [7/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupportSet	(	const LargeConvex *	convex,
		SupportSet &	support_set,
		int &	hint,
		ShapeSupportData &	support_data,
		size_t	num_sampled_supports = 6,
		Scalar	tol = Scalar(1e-3)
	)

Support set function for small ConvexBase (<32 vertices). Assumes the support set frame has already been computed.

getShapeSupportSet() [8/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupportSet	(	const SmallConvex *	convex,
		SupportSet &	support_set,
		int &	,
		ShapeSupportData &	,
		size_t	num_sampled_supports = 6,
		Scalar	tol = Scalar(1e-3)
	)

Support set function for large ConvexBase (>32 vertices). Assumes the support set frame has already been computed.

getShapeSupportSet() [9/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupportSet	(	const Sphere *	sphere,
		SupportSet &	support_set,
		int &	,
		ShapeSupportData &	,
		size_t	num_sampled_supports = 6,
		Scalar	tol = Scalar(1e-3)
	)

Sphere support set function. Assumes the support set frame has already been computed.

getShapeSupportSet() [10/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getShapeSupportSet	(	const TriangleP *	triangle,
		SupportSet &	support_set,
		int &	,
		ShapeSupportData &	,
		size_t	num_sampled_supports = 6,
		Scalar	tol = Scalar(1e-3)
	)

Triangle support set function. Assumes the support set frame has already been computed.

getSupport()

template<int _SupportOptions = SupportOptions::NoSweptSphere>

Vec3s coal::details::getSupport	(	const ShapeBase *	shape,
		const Vec3s &	dir,
		int &	hint
	)

the support function for shape. The output support point is expressed in the local frame of the shape.

Returns

a point which belongs to the set {argmax_{v in shape} v.dot(dir)}.

Parameters

shape	the shape.
dir	support direction.
hint	used to initialize the search when shape is a ConvexBase object.

Template Parameters

_SupportOptions

is a value of the SupportOptions enum. If set to WithSweptSphere, the support functions take into account the shapes' swept sphere radii. Please see MinkowskiDiff::set(const ShapeBase*, const ShapeBase*) for more details.

getSupportSet() [1/2]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getSupportSet	(	const ShapeBase *	shape,
		const Vec3s &	dir,
		SupportSet &	support_set,
		int &	hint,
		size_t	num_sampled_supports = 6,
		Scalar	tol = Scalar(1e-3)
	)

Same as getSupportSet(const ShapeBase*, const Scalar, SupportSet&, const int) but also constructs the support set frame from dir.

Note

The support direction dir is expressed in the local frame of the shape.

This function automatically deals with the direction of the SupportSet.

getSupportSet() [2/2]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void coal::details::getSupportSet	(	const ShapeBase *	shape,
		SupportSet &	support_set,
		int &	hint,
		size_t	num_sampled_supports = 6,
		Scalar	tol = Scalar(1e-3)
	)

Computes the support set for shape. This function assumes the frame of the support set has already been computed and that this frame is expressed w.r.t the local frame of the shape (i.e. the local frame of the shape is the WORLD frame of the support set). The support direction used to compute the support set is the positive z-axis if the support set has the DEFAULT direction; negative z-axis if it has the INVERTED direction. (In short, a shape's support set is has the DEFAULT direction if the shape is the first shape in a collision pair. It has the INVERTED direction if the shape is the second one in the collision pair).

Returns

an approximation of the set {argmax_{v in shape} v.dot(dir)}, where dir is the support set's support direction. The support set is a plane passing by the origin of the support set frame and supported by the direction dir. As a consequence, any point added to the set is automatically projected onto this plane.

Parameters

[in]	shape	the shape.
	[in/out]	support_set of shape.
	[in/out]	hint used to initialize the search when shape is a ConvexBase object.
[in]	num_sampled_supports	is only used for shapes with smooth non-strictly convex bases like cones and cylinders (their bases are circles). In such a case, if the support direction points to their base, we have to choose which points we want to add to the set. This is not needed for boxes or ConvexBase for example. Indeed, because their support sets are always polygons, we can characterize the entire support set with the vertices of the polygon.
[in]	tol	given a point v on the shape, if max_{p in shape}(p.dot(dir)) - v.dot(dir) <= tol, where dir is the set's support direction, then v is added to the support set. Otherwise said, if a point p of the shape is at a distance tol from the support plane, it is added to the set. Thus, tol can be seen as the "thickness" of the support plane.

Template Parameters

_SupportOptions

is a value of the SupportOptions enum. If set to WithSweptSphere, the support functions take into account the shapes' swept sphere radii.

halfspaceDistance()

Scalar coal::details::halfspaceDistance ( const Halfspace &  h, const Transform3s &  tf1, const ShapeBase &  s, const Transform3s &  tf2, Vec3s &  p1, Vec3s &  p2, Vec3s &  normal  )

inline

Parameters

p1	closest (or most penetrating) point on the Halfspace,
p2	closest (or most penetrating) point on the shape,
normal	the halfspace normal.

Returns

the distance between the two shapes (negative if penetration).

halfspaceHalfspaceDistance()

Scalar coal::details::halfspaceHalfspaceDistance ( const Halfspace &  s1, const Transform3s &  tf1, const Halfspace &  s2, const Transform3s &  tf2, Vec3s &  p1, Vec3s &  p2, Vec3s &  normal  )

inline

return distance between two halfspaces

Parameters

p1	the witness point on the first halfspace.
p2	the witness point on the second halfspace.
normal	pointing from first to second halfspace.

Returns

the distance between the two shapes (negative if penetration).

Note

If the two halfspaces don't have the same normal (or opposed normals), they collide and their distance is set to -infinity as there is no translation that can separate them; they have infinite penetration depth. The points p1 and p2 are the same point and represent the origin of the intersection line between the objects. The normal is the direction of this line.

halfspacePlaneDistance()

Scalar coal::details::halfspacePlaneDistance ( const Halfspace &  s1, const Transform3s &  tf1, const Plane &  s2, const Transform3s &  tf2, Vec3s &  p1, Vec3s &  p2, Vec3s &  normal  )

inline

return distance between plane and halfspace.

Parameters

p1	the witness point on the halfspace.
p2	the witness point on the plane.
normal	pointing from halfspace to plane.

Returns

the distance between the two shapes (negative if penetration).

Note

If plane and halfspace don't have the same normal (or opposed normals), they collide and their distance is set to -infinity as there is no translation that can separate them; they have infinite penetration depth. The points p1 and p2 are the same point and represent the origin of the intersection line between the objects. The normal is the direction of this line.

planeDistance()

Scalar coal::details::planeDistance ( const Plane &  plane, const Transform3s &  tf1, const ShapeBase &  s, const Transform3s &  tf2, Vec3s &  p1, Vec3s &  p2, Vec3s &  normal  )

inline

Parameters

p1	closest (or most penetrating) point on the Plane,
p2	closest (or most penetrating) point on the shape,
normal	the halfspace normal.

Returns

the distance between the two shapes (negative if penetration).

planePlaneDistance()

Scalar coal::details::planePlaneDistance ( const Plane &  s1, const Transform3s &  tf1, const Plane &  s2, const Transform3s &  tf2, Vec3s &  p1, Vec3s &  p2, Vec3s &  normal  )

inline

return distance between two planes

Parameters

p1	the witness point on the first plane.
p2	the witness point on the second plane.
normal	pointing from first to second plane.

Returns

the distance between the two shapes (negative if penetration).

Note

If the two planes don't have the same normal (or opposed normals), they collide and their distance is set to -infinity as there is no translation that can separate them; they have infinite penetration depth. The points p1 and p2 are the same point and represent the origin of the intersection line between the objects. The normal is the direction of this line.

projectInTriangle()

bool coal::details::projectInTriangle ( const Vec3s &  p1, const Vec3s &  p2, const Vec3s &  p3, const Vec3s &  normal, const Vec3s &  p  )

inline

Whether a point's projection is in a triangle.

segmentSqrDistance()

Scalar coal::details::segmentSqrDistance ( const Vec3s &  from, const Vec3s &  to, const Vec3s &  p, Vec3s &  nearest  )

inline

the minimum distance from a point to a line

sphereCapsuleDistance()

Scalar coal::details::sphereCapsuleDistance ( const Sphere &  s1, const Transform3s &  tf1, const Capsule &  s2, const Transform3s &  tf2, Vec3s &  p1, Vec3s &  p2, Vec3s &  normal  )

inline

Parameters

p1	witness point on the Sphere.
p2	witness point on the Capsule.
normal	pointing from shape 1 to shape 2 (sphere to capsule).

Returns

the distance between the two shapes (negative if penetration).

sphereCylinderDistance()

Scalar coal::details::sphereCylinderDistance ( const Sphere &  s1, const Transform3s &  tf1, const Cylinder &  s2, const Transform3s &  tf2, Vec3s &  p1, Vec3s &  p2, Vec3s &  normal  )

inline

Parameters

p1	witness point on the Sphere.
p2	witness point on the Cylinder.
normal	pointing from shape 1 to shape 2 (sphere to cylinder).

Returns

the distance between the two shapes (negative if penetration).

Todo:

a tiny performance improvement could be achieved using the abscissa with S as the origin

sphereSphereDistance()

Scalar coal::details::sphereSphereDistance ( const Sphere &  s1, const Transform3s &  tf1, const Sphere &  s2, const Transform3s &  tf2, Vec3s &  p1, Vec3s &  p2, Vec3s &  normal  )

inline

Parameters

p1	witness point on the first Sphere.
p2	witness point on the second Sphere.
normal	pointing from shape 1 to shape 2 (sphere1 to sphere2).

Returns

the distance between the two spheres (negative if penetration).

sphereTriangleDistance()

Scalar coal::details::sphereTriangleDistance ( const Sphere &  s, const Transform3s &  tf1, const TriangleP &  tri, const Transform3s &  tf2, Vec3s &  p1, Vec3s &  p2, Vec3s &  normal  )

inline

Parameters

p1	witness point on the first Sphere.
p2	witness point on the second Sphere.
normal	pointing from shape 1 to shape 2 (sphere1 to sphere2).

Returns

the distance between the two shapes (negative if penetration).