coal::details::EPA Struct Reference

class for EPA algorithm More...

#include <coal/narrowphase/gjk.h>

Collaboration diagram for coal::details::EPA:

Classes
struct	SimplexFace
struct	SimplexFaceList
	The simplex list of EPA is a linked list of faces. Note: EPA's linked list does not own any memory. The memory it refers to is contiguous and owned by a std::vector. More...
struct	SimplexHorizon

Public Types
enum	Status {   DidNotRun = -1 , Failed = 0 , Valid = 1 , AccuracyReached = 1 << 1 | Valid ,   Degenerated = 1 << 1 | Failed , NonConvex = 2 << 1 | Failed , InvalidHull = 3 << 1 | Failed , OutOfFaces = 4 << 1 | Failed ,   OutOfVertices = 5 << 1 | Failed , FallBack = 6 << 1 | Failed }
typedef GJK::SimplexV	SimplexVertex

Public Member Functions
	EPA (size_t max_iterations_, SolverScalar tolerance_)
	EPA (const EPA &other)
	Copy constructor of EPA. Mostly needed for the copy constructor of GJKSolver. More...
size_t	getNumMaxIterations () const
	Get the max number of iterations of EPA. More...
size_t	getNumMaxVertices () const
	Get the max number of vertices of EPA. More...
size_t	getNumMaxFaces () const
	Get the max number of faces of EPA. More...
SolverScalar	getTolerance () const
	Get the tolerance of EPA. More...
size_t	getNumIterations () const
	Get the number of iterations of the last run of EPA. More...
size_t	getNumVertices () const
	Get the number of vertices in the polytope of the last run of EPA. More...
size_t	getNumFaces () const
	Get the number of faces in the polytope of the last run of EPA. More...
void	reset (size_t max_iterations, SolverScalar tolerance)
	resets the EPA algorithm, preparing it for a new run. It potentially reallocates memory for the vertices and faces if the passed parameters are bigger than the previous ones. This function does not modify the parameters of the EPA algorithm, i.e. the maximum number of iterations and the tolerance. More...
Status	evaluate (GJK &gjk, const Vec3ps &guess)
void	getWitnessPointsAndNormal (const MinkowskiDiff &shape, Vec3ps &w0, Vec3ps &w1, Vec3ps &normal) const

Static Public Member Functions
static void	bind (SimplexFace *fa, size_t ea, SimplexFace *fb, size_t eb)
	We bind the face fa along its edge ea to the face fb along its edge fb. More...

Public Attributes
Status	status
GJK::Simplex	result
Vec3ps	normal
support_func_guess_t	support_hint
SolverScalar	depth
SimplexFace *	closest_face

Detailed Description

class for EPA algorithm

Member Typedef Documentation

SimplexVertex

typedef GJK::SimplexV coal::details::EPA::SimplexVertex

Member Enumeration Documentation

Status

enum coal::details::EPA::Status

Enumerator
DidNotRun
Failed
Valid
AccuracyReached
Degenerated
NonConvex
InvalidHull
OutOfFaces
OutOfVertices
FallBack

Constructor & Destructor Documentation

EPA() [1/2]

coal::details::EPA::EPA ( size_t  max_iterations_, SolverScalar  tolerance_  )

inline

EPA() [2/2]

coal::details::EPA::EPA ( const EPA &  other )

inline

Copy constructor of EPA. Mostly needed for the copy constructor of GJKSolver.

Member Function Documentation

bind()

static void coal::details::EPA::bind ( SimplexFace *  fa, size_t  ea, SimplexFace *  fb, size_t  eb  )

inlinestatic

We bind the face fa along its edge ea to the face fb along its edge fb.

evaluate()

Status coal::details::EPA::evaluate	(	GJK &	gjk,
		const Vec3ps &	guess
	)

Returns

a Status which can be demangled using (status & Valid) or (status & Failed). The other values provide a more detailled status

getNumFaces()

size_t coal::details::EPA::getNumFaces ( ) const

inline

Get the number of faces in the polytope of the last run of EPA.

getNumIterations()

size_t coal::details::EPA::getNumIterations ( ) const

inline

Get the number of iterations of the last run of EPA.

getNumMaxFaces()

size_t coal::details::EPA::getNumMaxFaces ( ) const

inline

Get the max number of faces of EPA.

getNumMaxIterations()

size_t coal::details::EPA::getNumMaxIterations ( ) const

inline

Get the max number of iterations of EPA.

getNumMaxVertices()

size_t coal::details::EPA::getNumMaxVertices ( ) const

inline

Get the max number of vertices of EPA.

getNumVertices()

size_t coal::details::EPA::getNumVertices ( ) const

inline

Get the number of vertices in the polytope of the last run of EPA.

getTolerance()

SolverScalar coal::details::EPA::getTolerance ( ) const

inline

Get the tolerance of EPA.

getWitnessPointsAndNormal()

void coal::details::EPA::getWitnessPointsAndNormal	(	const MinkowskiDiff &	shape,
		Vec3ps &	w0,
		Vec3ps &	w1,
		Vec3ps &	normal
	)		const

Get the witness points on each object, and the corresponding normal.

Parameters

[in]	shape	is the Minkowski difference of the two shapes.
[out]	w0	is the witness point on shape0.
[out]	w1	is the witness point on shape1.
[in]	normal	is the normal found by EPA. It points from shape0 to shape1. The normal is used to correct the witness points on the shapes if the shapes have a non-zero swept-sphere radius.

reset()

void coal::details::EPA::reset	(	size_t	max_iterations,
		SolverScalar	tolerance
	)

resets the EPA algorithm, preparing it for a new run. It potentially reallocates memory for the vertices and faces if the passed parameters are bigger than the previous ones. This function does not modify the parameters of the EPA algorithm, i.e. the maximum number of iterations and the tolerance.

Note

calling this function destroys the previous state of EPA. In the future, we may want to copy it instead, i.e. when EPA will be (properly) warm-startable.

Member Data Documentation

closest_face

SimplexFace* coal::details::EPA::closest_face

depth

SolverScalar coal::details::EPA::depth

normal

Vec3ps coal::details::EPA::normal

result

GJK::Simplex coal::details::EPA::result

status

Status coal::details::EPA::status

support_hint

support_func_guess_t coal::details::EPA::support_hint

---

The documentation for this struct was generated from the following file:

• include/coal/narrowphase/gjk.h