Classes
class	coal::TriangleP
	Triangle stores the points instead of only indices of points. More...

class	coal::Box
	Center at zero point, axis aligned box. More...

class	coal::Sphere
	Center at zero point sphere. More...

class	coal::Ellipsoid
	Ellipsoid centered at point zero. More...

class	coal::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...

class	coal::Cone
	Cone The base of the cone is at \( z = - halfLength \) and the top is at \( z = halfLength \). More...

class	coal::Cylinder
	Cylinder along Z axis. The cylinder is defined at its centroid. More...

class	coal::ConvexBase
	Base for convex polytope. More...

struct	coal::ConvexBase::Neighbors

struct	coal::ConvexBase::SupportWarmStartPolytope
	The support warm start polytope contains certain points of `this` which are support points in specific directions of space. This struct is used to warm start the support function computation for large meshes (`num_points` > 32). More...

class	coal::Convex< PolygonT >
	Convex polytope. More...

class	coal::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	coal::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...

Functions
	coal::ShapeBase::ShapeBase ()

	coal::ShapeBase::ShapeBase (const ShapeBase &other)
	More...

ShapeBase &	coal::ShapeBase::operator= (const ShapeBase &other)=default

virtual	coal::ShapeBase::~ShapeBase ()

OBJECT_TYPE	coal::ShapeBase::getObjectType () const
	Get object type: a geometric shape. More...

void	coal::ShapeBase::setSweptSphereRadius (CoalScalar radius)
	Set radius of sphere swept around the shape. Must be >= 0. More...

CoalScalar	coal::ShapeBase::getSweptSphereRadius () const
	Get radius of sphere swept around the shape. This radius is always >= 0. More...

	coal::TriangleP::TriangleP ()

	coal::TriangleP::TriangleP (const Vec3s &a_, const Vec3s &b_, const Vec3s &c_)

	coal::TriangleP::TriangleP (const TriangleP &other)

virtual TriangleP *	coal::TriangleP::clone () const
	Clone *this into a new TriangleP. More...

void	coal::TriangleP::computeLocalAABB ()
	virtual function of compute AABB in local coordinate More...

NODE_TYPE	coal::TriangleP::getNodeType () const
	get the node type More...

	coal::Box::Box (CoalScalar x, CoalScalar y, CoalScalar z)

	coal::Box::Box (const Vec3s &side_)

	coal::Box::Box (const Box &other)

Box &	coal::Box::operator= (const Box &other)

virtual Box *	coal::Box::clone () const
	Clone *this into a new Box. More...

	coal::Box::Box ()
	Default constructor. More...

void	coal::Box::computeLocalAABB ()
	Compute AABB. More...

NODE_TYPE	coal::Box::getNodeType () const
	Get node type: a box. More...

CoalScalar	coal::Box::computeVolume () const
	compute the volume More...

Matrix3s	coal::Box::computeMomentofInertia () const
	compute the inertia matrix, related to the origin More...

CoalScalar	coal::Box::minInflationValue () const

std::pair< Box, Transform3s >	coal::Box::inflated (const CoalScalar value) const
	Inflate the box by an amount given by `value`. This value can be positive or negative but must always >= `minInflationValue()`. More...

	coal::Sphere::Sphere ()
	Default constructor. More...

	coal::Sphere::Sphere (CoalScalar radius_)

	coal::Sphere::Sphere (const Sphere &other)

virtual Sphere *	coal::Sphere::clone () const
	Clone *this into a new Sphere. More...

void	coal::Sphere::computeLocalAABB ()
	Compute AABB. More...

NODE_TYPE	coal::Sphere::getNodeType () const
	Get node type: a sphere. More...

Matrix3s	coal::Sphere::computeMomentofInertia () const
	compute the inertia matrix, related to the origin More...

CoalScalar	coal::Sphere::computeVolume () const
	compute the volume More...

CoalScalar	coal::Sphere::minInflationValue () const

std::pair< Sphere, Transform3s >	coal::Sphere::inflated (const CoalScalar value) const
	Inflate the sphere by an amount given by `value`. This value can be positive or negative but must always >= `minInflationValue()`. More...

	coal::Ellipsoid::Ellipsoid ()
	Default constructor. More...

	coal::Ellipsoid::Ellipsoid (CoalScalar rx, CoalScalar ry, CoalScalar rz)

	coal::Ellipsoid::Ellipsoid (const Vec3s &radii)

	coal::Ellipsoid::Ellipsoid (const Ellipsoid &other)

virtual Ellipsoid *	coal::Ellipsoid::clone () const
	Clone *this into a new Ellipsoid. More...

void	coal::Ellipsoid::computeLocalAABB ()
	Compute AABB. More...

NODE_TYPE	coal::Ellipsoid::getNodeType () const
	Get node type: an ellipsoid. More...

Matrix3s	coal::Ellipsoid::computeMomentofInertia () const
	compute the inertia matrix, related to the origin More...

CoalScalar	coal::Ellipsoid::computeVolume () const
	compute the volume More...

CoalScalar	coal::Ellipsoid::minInflationValue () const

std::pair< Ellipsoid, Transform3s >	coal::Ellipsoid::inflated (const CoalScalar value) const
	Inflate the ellipsoid by an amount given by `value`. This value can be positive or negative but must always >= `minInflationValue()`. More...

	coal::Capsule::Capsule ()
	Default constructor. More...

	coal::Capsule::Capsule (CoalScalar radius_, CoalScalar lz_)

	coal::Capsule::Capsule (const Capsule &other)

virtual Capsule *	coal::Capsule::clone () const
	Clone *this into a new Capsule. More...

void	coal::Capsule::computeLocalAABB ()
	Compute AABB. More...

NODE_TYPE	coal::Capsule::getNodeType () const
	Get node type: a capsule. More...

CoalScalar	coal::Capsule::computeVolume () const
	compute the volume More...

Matrix3s	coal::Capsule::computeMomentofInertia () const
	compute the inertia matrix, related to the origin More...

CoalScalar	coal::Capsule::minInflationValue () const

std::pair< Capsule, Transform3s >	coal::Capsule::inflated (const CoalScalar value) const
	Inflate the capsule by an amount given by `value`. This value can be positive or negative but must always >= `minInflationValue()`. More...

	coal::Cone::Cone ()
	Default constructor. More...

	coal::Cone::Cone (CoalScalar radius_, CoalScalar lz_)

	coal::Cone::Cone (const Cone &other)

virtual Cone *	coal::Cone::clone () const
	Clone *this into a new Cone. More...

void	coal::Cone::computeLocalAABB ()
	Compute AABB. More...

NODE_TYPE	coal::Cone::getNodeType () const
	Get node type: a cone. More...

CoalScalar	coal::Cone::computeVolume () const
	compute the volume More...

Matrix3s	coal::Cone::computeMomentofInertia () const
	compute the inertia matrix, related to the origin More...

Vec3s	coal::Cone::computeCOM () const
	compute center of mass More...

CoalScalar	coal::Cone::minInflationValue () const

std::pair< Cone, Transform3s >	coal::Cone::inflated (const CoalScalar value) const
	Inflate the cone by an amount given by `value`. This value can be positive or negative but must always >= `minInflationValue()`. More...

	coal::Cylinder::Cylinder ()
	Default constructor. More...

	coal::Cylinder::Cylinder (CoalScalar radius_, CoalScalar lz_)

	coal::Cylinder::Cylinder (const Cylinder &other)

Cylinder &	coal::Cylinder::operator= (const Cylinder &other)

virtual Cylinder *	coal::Cylinder::clone () const
	Clone *this into a new Cylinder. More...

void	coal::Cylinder::computeLocalAABB ()
	Compute AABB. More...

NODE_TYPE	coal::Cylinder::getNodeType () const
	Get node type: a cylinder. More...

CoalScalar	coal::Cylinder::computeVolume () const
	compute the volume More...

Matrix3s	coal::Cylinder::computeMomentofInertia () const
	compute the inertia matrix, related to the origin More...

CoalScalar	coal::Cylinder::minInflationValue () const

std::pair< Cylinder, Transform3s >	coal::Cylinder::inflated (const CoalScalar value) const
	Inflate the cylinder by an amount given by `value`. This value can be positive or negative but must always >= `minInflationValue()`. More...

static ConvexBase *	coal::ConvexBase::convexHull (std::shared_ptr< std::vector< Vec3s >> &points, unsigned int num_points, bool keepTriangles, const char *qhullCommand=NULL)
	Build a convex hull based on Qhull library and store the vertices and optionally the triangles. More...

static ConvexBase *	coal::ConvexBase::convexHull (const Vec3s points, unsigned int num_points, bool keepTriangles, const char qhullCommand=NULL)

virtual	coal::ConvexBase::~ConvexBase ()

virtual ConvexBase *	coal::ConvexBase::clone () const
	Clone (deep copy). This method is consistent with BVHModel `clone` method. The copy constructor is called, which duplicates the data. More...

void	coal::ConvexBase::computeLocalAABB ()
	Compute AABB. More...

NODE_TYPE	coal::ConvexBase::getNodeType () const
	Get node type: a convex polytope. More...

unsigned char const &	coal::ConvexBase::Neighbors::count () const

unsigned int &	coal::ConvexBase::Neighbors::operator[] (int i)

unsigned int const &	coal::ConvexBase::Neighbors::operator[] (int i) const

bool	coal::ConvexBase::Neighbors::operator== (const Neighbors &other) const

bool	coal::ConvexBase::Neighbors::operator!= (const Neighbors &other) const

	coal::ConvexBase::ConvexBase ()
	Construct an uninitialized convex object Initialization is done with ConvexBase::initialize. More...

void	coal::ConvexBase::initialize (std::shared_ptr< std::vector< Vec3s >> points_, unsigned int num_points_)
	Initialize the points of the convex shape This also initializes the ConvexBase::center. More...

void	coal::ConvexBase::set (std::shared_ptr< std::vector< Vec3s >> points_, unsigned int num_points_)
	Set the points of the convex shape. More...

	coal::ConvexBase::ConvexBase (const ConvexBase &other)
	Copy constructor Only the list of neighbors is copied. More...

void	coal::ConvexBase::buildSupportWarmStart ()
	Build the support points warm starts. More...

	coal::Halfspace::Halfspace (const Vec3s &n_, CoalScalar d_)
	Construct a half space with normal direction and offset. More...

	coal::Halfspace::Halfspace (CoalScalar a, CoalScalar b, CoalScalar c, CoalScalar d_)
	Construct a plane with normal direction and offset. More...

	coal::Halfspace::Halfspace ()

	coal::Halfspace::Halfspace (const Halfspace &other)

Halfspace &	coal::Halfspace::operator= (const Halfspace &other)
	operator = More...

virtual Halfspace *	coal::Halfspace::clone () const
	Clone *this into a new Halfspace. More...

CoalScalar	coal::Halfspace::signedDistance (const Vec3s &p) const

CoalScalar	coal::Halfspace::distance (const Vec3s &p) const

void	coal::Halfspace::computeLocalAABB ()
	Compute AABB. More...

NODE_TYPE	coal::Halfspace::getNodeType () const
	Get node type: a half space. More...

CoalScalar	coal::Halfspace::minInflationValue () const

std::pair< Halfspace, Transform3s >	coal::Halfspace::inflated (const CoalScalar value) const
	Inflate the halfspace by an amount given by `value`. This value can be positive or negative but must always >= `minInflationValue()`. More...

void	coal::Halfspace::unitNormalTest ()
	Turn non-unit normal into unit. More...

	coal::Plane::Plane (const Vec3s &n_, CoalScalar d_)
	Construct a plane with normal direction and offset. More...

	coal::Plane::Plane (CoalScalar a, CoalScalar b, CoalScalar c, CoalScalar d_)
	Construct a plane with normal direction and offset. More...

	coal::Plane::Plane ()

	coal::Plane::Plane (const Plane &other)

Plane &	coal::Plane::operator= (const Plane &other)
	operator = More...

virtual Plane *	coal::Plane::clone () const
	Clone *this into a new Plane. More...

CoalScalar	coal::Plane::signedDistance (const Vec3s &p) const

CoalScalar	coal::Plane::distance (const Vec3s &p) const

void	coal::Plane::computeLocalAABB ()
	Compute AABB. More...

NODE_TYPE	coal::Plane::getNodeType () const
	Get node type: a plane. More...

void	coal::Plane::unitNormalTest ()
	Turn non-unit normal into unit. More...

Variables
CoalScalar	coal::ShapeBase::m_swept_sphere_radius {0}
	Radius of the sphere swept around the shape. Default value is 0. Note: this property differs from `inflated` method of certain derived classes (e.g. Box, Sphere, Ellipsoid, Capsule, Cone, Cylinder) in the sense that inflated returns a new shape which can be inflated but also deflated. Also, an inflated shape is not rounded. It simply has a different size. Sweeping a shape with a sphere is a different operation (a Minkowski sum), which rounds the sharp corners of a shape. The swept sphere radius is a property of the shape itself and can be manually updated between collision checks. More...

Vec3s	coal::TriangleP::a

Vec3s	coal::TriangleP::b

Vec3s	coal::TriangleP::c

Vec3s	coal::Box::halfSide
	box side half-length More...

CoalScalar	coal::Sphere::radius
	Radius of the sphere. More...

Vec3s	coal::Ellipsoid::radii
	Radii of the Ellipsoid (such that on boundary: x^2/rx^2 + y^2/ry^2. More...

CoalScalar	coal::Capsule::radius
	Radius of capsule. More...

CoalScalar	coal::Capsule::halfLength
	Half Length along z axis. More...

CoalScalar	coal::Cone::radius
	Radius of the cone. More...

CoalScalar	coal::Cone::halfLength
	Half Length along z axis. More...

CoalScalar	coal::Cylinder::radius
	Radius of the cylinder. More...

CoalScalar	coal::Cylinder::halfLength
	Half Length along z axis. More...

unsigned char	coal::ConvexBase::Neighbors::count_

unsigned int *	coal::ConvexBase::Neighbors::n_

static constexpr size_t	coal::ConvexBase::num_vertices_large_convex_threshold = 32
	Above this threshold, the convex polytope is considered large. This influcences the way the support function is computed. More...

std::shared_ptr< std::vector< Vec3s > >	coal::ConvexBase::points
	An array of the points of the polygon. More...

unsigned int	coal::ConvexBase::num_points

std::shared_ptr< std::vector< Vec3s > >	coal::ConvexBase::normals
	An array of the normals of the polygon. More...

std::shared_ptr< std::vector< double > >	coal::ConvexBase::offsets
	An array of the offsets to the normals of the polygon. Note: there are as many offsets as normals. More...

unsigned int	coal::ConvexBase::num_normals_and_offsets

std::shared_ptr< std::vector< Neighbors > >	coal::ConvexBase::neighbors
	Neighbors of each vertex. It is an array of size num_points. For each vertex, it contains the number of neighbors and a list of indices pointing to them. More...

Vec3s	coal::ConvexBase::center
	center of the convex polytope, this is used for collision: center is guaranteed in the internal of the polytope (as it is convex) More...

std::vector< Vec3s >	coal::ConvexBase::SupportWarmStartPolytope::points
	Array of support points to warm start the support function computation. More...

std::vector< int >	coal::ConvexBase::SupportWarmStartPolytope::indices
	Indices of the support points warm starts. These are the indices of the real convex, not the indices of points in the warm start polytope. More...

static constexpr size_t	coal::ConvexBase::num_support_warm_starts = 14
	Number of support warm starts. More...

SupportWarmStartPolytope	coal::ConvexBase::support_warm_starts
	Support warm start polytopes. More...

std::shared_ptr< std::vector< unsigned int > >	coal::ConvexBase::nneighbors_
	Array of indices of the neighbors of each vertex. Since we don't know a priori the number of neighbors of each vertex, we store the indices of the neighbors in a single array. The `neighbors` attribute, an array of `Neighbors`, is used to point each vertex to the right indices in the `nneighbors_` array. More...

Vec3s	coal::Halfspace::n
	Plane normal. More...

CoalScalar	coal::Halfspace::d
	Plane offset. More...

Vec3s	coal::Plane::n
	Plane normal. More...

CoalScalar	coal::Plane::d
	Plane offset. More...

Detailed Description

Classes of different types of geometric shapes.

Function Documentation

◆ Box() [1/4]

coal::Box::Box ( )

inline

Default constructor.

◆ Box() [2/4]

coal::Box::Box	(	CoalScalar	x,
		CoalScalar	y,
		CoalScalar	z
	)

inline

◆ Box() [3/4]

coal::Box::Box ( const Box & other )

inline

◆ Box() [4/4]

coal::Box::Box ( const Vec3s & side_ )

inline

◆ buildSupportWarmStart()

void coal::ConvexBase::buildSupportWarmStart ( )

protected

Build the support points warm starts.

◆ Capsule() [1/3]

coal::Capsule::Capsule ( )

inline

Default constructor.

◆ Capsule() [2/3]

coal::Capsule::Capsule	(	CoalScalar	radius_,
		CoalScalar	lz_
	)

inline

◆ Capsule() [3/3]

coal::Capsule::Capsule ( const Capsule & other )

inline

◆ clone() [1/10]

virtual TriangleP* coal::TriangleP::clone ( ) const

inlinevirtual

Clone *this into a new TriangleP.

Implements coal::CollisionGeometry.

◆ clone() [2/10]

virtual Box* coal::Box::clone ( ) const

inlinevirtual

Clone *this into a new Box.

Implements coal::CollisionGeometry.

◆ clone() [3/10]

virtual Sphere* coal::Sphere::clone ( ) const

inlinevirtual

Clone *this into a new Sphere.

Implements coal::CollisionGeometry.

◆ clone() [4/10]

virtual Ellipsoid* coal::Ellipsoid::clone ( ) const

inlinevirtual

Clone *this into a new Ellipsoid.

Implements coal::CollisionGeometry.

◆ clone() [5/10]

virtual Capsule* coal::Capsule::clone ( ) const

inlinevirtual

Clone *this into a new Capsule.

Implements coal::CollisionGeometry.

◆ clone() [6/10]

virtual Cone* coal::Cone::clone ( ) const

inlinevirtual

Clone *this into a new Cone.

Implements coal::CollisionGeometry.

◆ clone() [7/10]

virtual Cylinder* coal::Cylinder::clone ( ) const

inlinevirtual

Clone *this into a new Cylinder.

Implements coal::CollisionGeometry.

◆ clone() [8/10]

virtual ConvexBase* coal::ConvexBase::clone ( ) const

inlinevirtual

Clone (deep copy). This method is consistent with BVHModel clone method. The copy constructor is called, which duplicates the data.

Implements coal::CollisionGeometry.

Reimplemented in coal::Convex< PolygonT >.

◆ clone() [9/10]

virtual Halfspace* coal::Halfspace::clone ( ) const

inlinevirtual

Clone *this into a new Halfspace.

Implements coal::CollisionGeometry.

◆ clone() [10/10]

virtual Plane* coal::Plane::clone ( ) const

inlinevirtual

Clone *this into a new Plane.

Implements coal::CollisionGeometry.

◆ computeCOM()

Vec3s coal::Cone::computeCOM ( ) const

inlinevirtual

compute center of mass

Reimplemented from coal::CollisionGeometry.

◆ computeLocalAABB() [1/10]

void coal::TriangleP::computeLocalAABB ( )

virtual

virtual function of compute AABB in local coordinate

Implements coal::CollisionGeometry.

◆ computeLocalAABB() [2/10]

void coal::Box::computeLocalAABB ( )

virtual

Compute AABB.

Implements coal::CollisionGeometry.

◆ computeLocalAABB() [3/10]

void coal::Sphere::computeLocalAABB ( )

virtual

Compute AABB.

Implements coal::CollisionGeometry.

◆ computeLocalAABB() [4/10]

void coal::Ellipsoid::computeLocalAABB ( )

virtual

Compute AABB.

Implements coal::CollisionGeometry.

◆ computeLocalAABB() [5/10]

void coal::Capsule::computeLocalAABB ( )

virtual

Compute AABB.

Implements coal::CollisionGeometry.

◆ computeLocalAABB() [6/10]

void coal::Cone::computeLocalAABB ( )

virtual

Compute AABB.

Implements coal::CollisionGeometry.

◆ computeLocalAABB() [7/10]

void coal::Cylinder::computeLocalAABB ( )

virtual

Compute AABB.

Implements coal::CollisionGeometry.

◆ computeLocalAABB() [8/10]

void coal::ConvexBase::computeLocalAABB ( )

virtual

Compute AABB.

Implements coal::CollisionGeometry.

◆ computeLocalAABB() [9/10]

void coal::Halfspace::computeLocalAABB ( )

virtual

Compute AABB.

Implements coal::CollisionGeometry.

◆ computeLocalAABB() [10/10]

void coal::Plane::computeLocalAABB ( )

virtual

Compute AABB.

Implements coal::CollisionGeometry.

◆ computeMomentofInertia() [1/6]

Matrix3s coal::Box::computeMomentofInertia ( ) const

inlinevirtual

compute the inertia matrix, related to the origin

Reimplemented from coal::CollisionGeometry.

◆ computeMomentofInertia() [2/6]

Matrix3s coal::Sphere::computeMomentofInertia ( ) const

inlinevirtual

compute the inertia matrix, related to the origin

Reimplemented from coal::CollisionGeometry.

◆ computeMomentofInertia() [3/6]

Matrix3s coal::Ellipsoid::computeMomentofInertia ( ) const

inlinevirtual

compute the inertia matrix, related to the origin

Reimplemented from coal::CollisionGeometry.

◆ computeMomentofInertia() [4/6]

Matrix3s coal::Capsule::computeMomentofInertia ( ) const

inlinevirtual

compute the inertia matrix, related to the origin

Reimplemented from coal::CollisionGeometry.

◆ computeMomentofInertia() [5/6]

Matrix3s coal::Cone::computeMomentofInertia ( ) const

inlinevirtual

compute the inertia matrix, related to the origin

Reimplemented from coal::CollisionGeometry.

◆ computeMomentofInertia() [6/6]

Matrix3s coal::Cylinder::computeMomentofInertia ( ) const

inlinevirtual

compute the inertia matrix, related to the origin

Reimplemented from coal::CollisionGeometry.

◆ computeVolume() [1/6]

CoalScalar coal::Box::computeVolume ( ) const

inlinevirtual

compute the volume

Reimplemented from coal::CollisionGeometry.

◆ computeVolume() [2/6]

CoalScalar coal::Sphere::computeVolume ( ) const

inlinevirtual

compute the volume

Reimplemented from coal::CollisionGeometry.

◆ computeVolume() [3/6]

CoalScalar coal::Ellipsoid::computeVolume ( ) const

inlinevirtual

compute the volume

Reimplemented from coal::CollisionGeometry.

◆ computeVolume() [4/6]

CoalScalar coal::Capsule::computeVolume ( ) const

inlinevirtual

compute the volume

Reimplemented from coal::CollisionGeometry.

◆ computeVolume() [5/6]

CoalScalar coal::Cone::computeVolume ( ) const

inlinevirtual

compute the volume

Reimplemented from coal::CollisionGeometry.

◆ computeVolume() [6/6]

CoalScalar coal::Cylinder::computeVolume ( ) const

inlinevirtual

compute the volume

Reimplemented from coal::CollisionGeometry.

◆ Cone() [1/3]

coal::Cone::Cone ( )

inline

Default constructor.

◆ Cone() [2/3]

coal::Cone::Cone	(	CoalScalar	radius_,
		CoalScalar	lz_
	)

inline

◆ Cone() [3/3]

coal::Cone::Cone ( const Cone & other )

inline

◆ ConvexBase() [1/2]

coal::ConvexBase::ConvexBase ( )

inlineprotected

Construct an uninitialized convex object Initialization is done with ConvexBase::initialize.

◆ ConvexBase() [2/2]

coal::ConvexBase::ConvexBase ( const ConvexBase & other )

protected

Copy constructor Only the list of neighbors is copied.

◆ convexHull() [1/2]

static ConvexBase* coal::ConvexBase::convexHull	(	const Vec3s *	points,
		unsigned int	num_points,
		bool	keepTriangles,
		const char *	qhullCommand = `NULL`
	)

static

◆ convexHull() [2/2]

static ConvexBase* coal::ConvexBase::convexHull	(	std::shared_ptr< std::vector< Vec3s >> &	points,
		unsigned int	num_points,
		bool	keepTriangles,
		const char *	qhullCommand = `NULL`
	)

static

Build a convex hull based on Qhull library and store the vertices and optionally the triangles.

Parameters

points,num_points	the points whose convex hull should be computed.
keepTriangles	if `true`, returns a Convex<Triangle> object which contains the triangle of the shape.
qhullCommand	the command sent to qhull. if `keepTriangles` is `true`, this parameter should include "Qt". If `NULL`, "Qt" is passed to Qhull. if `keepTriangles` is `false`, an empty string is passed to Qhull.

Note: Coal must have been compiled with option COAL_HAS_QHULL set to ON.

◆ count()

unsigned char const& coal::ConvexBase::Neighbors::count ( ) const

inline

◆ Cylinder() [1/3]

coal::Cylinder::Cylinder ( )

inline

Default constructor.

◆ Cylinder() [2/3]

coal::Cylinder::Cylinder	(	CoalScalar	radius_,
		CoalScalar	lz_
	)

inline

◆ Cylinder() [3/3]

coal::Cylinder::Cylinder ( const Cylinder & other )

inline

◆ distance() [1/2]

CoalScalar coal::Halfspace::distance ( const Vec3s & p ) const

inline

◆ distance() [2/2]

CoalScalar coal::Plane::distance ( const Vec3s & p ) const

inline

◆ Ellipsoid() [1/4]

coal::Ellipsoid::Ellipsoid ( )

inline

Default constructor.

◆ Ellipsoid() [2/4]

coal::Ellipsoid::Ellipsoid	(	CoalScalar	rx,
		CoalScalar	ry,
		CoalScalar	rz
	)

inline

◆ Ellipsoid() [3/4]

coal::Ellipsoid::Ellipsoid ( const Ellipsoid & other )

inline

◆ Ellipsoid() [4/4]

coal::Ellipsoid::Ellipsoid ( const Vec3s & radii )

inlineexplicit

◆ getNodeType() [1/10]

NODE_TYPE coal::TriangleP::getNodeType ( ) const

inlinevirtual

get the node type

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [2/10]

NODE_TYPE coal::Box::getNodeType ( ) const

inlinevirtual

Get node type: a box.

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [3/10]

NODE_TYPE coal::Sphere::getNodeType ( ) const

inlinevirtual

Get node type: a sphere.

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [4/10]

NODE_TYPE coal::Ellipsoid::getNodeType ( ) const

inlinevirtual

Get node type: an ellipsoid.

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [5/10]

NODE_TYPE coal::Capsule::getNodeType ( ) const

inlinevirtual

Get node type: a capsule.

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [6/10]

NODE_TYPE coal::Cone::getNodeType ( ) const

inlinevirtual

Get node type: a cone.

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [7/10]

NODE_TYPE coal::Cylinder::getNodeType ( ) const

inlinevirtual

Get node type: a cylinder.

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [8/10]

NODE_TYPE coal::ConvexBase::getNodeType ( ) const

inlinevirtual

Get node type: a convex polytope.

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [9/10]

NODE_TYPE coal::Halfspace::getNodeType ( ) const

inlinevirtual

Get node type: a half space.

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [10/10]

NODE_TYPE coal::Plane::getNodeType ( ) const

inlinevirtual

Get node type: a plane.

Reimplemented from coal::CollisionGeometry.

◆ getObjectType()

OBJECT_TYPE coal::ShapeBase::getObjectType ( ) const

inlinevirtual

Get object type: a geometric shape.

Reimplemented from coal::CollisionGeometry.

◆ getSweptSphereRadius()

CoalScalar coal::ShapeBase::getSweptSphereRadius ( ) const

inline

Get radius of sphere swept around the shape. This radius is always >= 0.

◆ Halfspace() [1/4]

coal::Halfspace::Halfspace ( )

inline

◆ Halfspace() [2/4]

coal::Halfspace::Halfspace	(	CoalScalar	a,
		CoalScalar	b,
		CoalScalar	c,
		CoalScalar	d_
	)

inline

Construct a plane with normal direction and offset.

◆ Halfspace() [3/4]

coal::Halfspace::Halfspace ( const Halfspace & other )

inline

◆ Halfspace() [4/4]

coal::Halfspace::Halfspace	(	const Vec3s &	n_,
		CoalScalar	d_
	)

inline

Construct a half space with normal direction and offset.

◆ inflated() [1/7]

std::pair<Box, Transform3s> coal::Box::inflated ( const CoalScalar value ) const

inline

Inflate the box by an amount given by value. This value can be positive or negative but must always >= minInflationValue().

Parameters

[in] value of the shape inflation.

Returns: a new inflated box and the related transform to account for the change of shape frame

◆ inflated() [2/7]

std::pair<Sphere, Transform3s> coal::Sphere::inflated ( const CoalScalar value ) const

inline

Inflate the sphere by an amount given by value. This value can be positive or negative but must always >= minInflationValue().

Parameters

[in] value of the shape inflation.

Returns: a new inflated sphere and the related transform to account for the change of shape frame

◆ inflated() [3/7]

std::pair<Ellipsoid, Transform3s> coal::Ellipsoid::inflated ( const CoalScalar value ) const

inline

Inflate the ellipsoid by an amount given by value. This value can be positive or negative but must always >= minInflationValue().

Parameters

[in] value of the shape inflation.

Returns: a new inflated ellipsoid and the related transform to account for the change of shape frame

◆ inflated() [4/7]

std::pair<Capsule, Transform3s> coal::Capsule::inflated ( const CoalScalar value ) const

inline

Inflate the capsule by an amount given by value. This value can be positive or negative but must always >= minInflationValue().

Parameters

[in] value of the shape inflation.

Returns: a new inflated capsule and the related transform to account for the change of shape frame

◆ inflated() [5/7]

std::pair<Cone, Transform3s> coal::Cone::inflated ( const CoalScalar value ) const

inline

Inflate the cone by an amount given by value. This value can be positive or negative but must always >= minInflationValue().

Parameters

[in] value of the shape inflation.

Returns: a new inflated cone and the related transform to account for the change of shape frame

◆ inflated() [6/7]

std::pair<Cylinder, Transform3s> coal::Cylinder::inflated ( const CoalScalar value ) const

inline

Inflate the cylinder by an amount given by value. This value can be positive or negative but must always >= minInflationValue().

Parameters

[in] value of the shape inflation.

Returns: a new inflated cylinder and the related transform to account for the change of shape frame

◆ inflated() [7/7]

std::pair<Halfspace, Transform3s> coal::Halfspace::inflated ( const CoalScalar value ) const

inline

Inflate the halfspace by an amount given by value. This value can be positive or negative but must always >= minInflationValue().

Parameters

[in] value of the shape inflation.

Returns: a new inflated halfspace and the related transform to account for the change of shape frame

◆ initialize()

void coal::ConvexBase::initialize	(	std::shared_ptr< std::vector< Vec3s >>	points_,
		unsigned int	num_points_
	)

protected

Initialize the points of the convex shape This also initializes the ConvexBase::center.

Parameters

ownStorage	weither the ConvexBase owns the data.
points_	list of 3D points ///
num_points_	number of 3D points

◆ minInflationValue() [1/7]

CoalScalar coal::Box::minInflationValue ( ) const

inline

◆ minInflationValue() [2/7]

CoalScalar coal::Sphere::minInflationValue ( ) const

inline

◆ minInflationValue() [3/7]

CoalScalar coal::Ellipsoid::minInflationValue ( ) const

inline

◆ minInflationValue() [4/7]

CoalScalar coal::Capsule::minInflationValue ( ) const

inline

◆ minInflationValue() [5/7]

CoalScalar coal::Cone::minInflationValue ( ) const

inline

◆ minInflationValue() [6/7]

CoalScalar coal::Cylinder::minInflationValue ( ) const

inline

◆ minInflationValue() [7/7]

CoalScalar coal::Halfspace::minInflationValue ( ) const

inline

◆ operator!=()

bool coal::ConvexBase::Neighbors::operator!= ( const Neighbors & other ) const

inline

◆ operator=() [1/5]

Box& coal::Box::operator= ( const Box & other )

inline

◆ operator=() [2/5]

Cylinder& coal::Cylinder::operator= ( const Cylinder & other )

inline

◆ operator=() [3/5]

Halfspace& coal::Halfspace::operator= ( const Halfspace & other )

inline

operator =

◆ operator=() [4/5]

Plane& coal::Plane::operator= ( const Plane & other )

inline

operator =

◆ operator=() [5/5]

ShapeBase& coal::ShapeBase::operator= ( const ShapeBase & other )

default

◆ operator==()

bool coal::ConvexBase::Neighbors::operator== ( const Neighbors & other ) const

inline

◆ operator[]() [1/2]

unsigned int& coal::ConvexBase::Neighbors::operator[] ( int i )

inline

◆ operator[]() [2/2]

unsigned int const& coal::ConvexBase::Neighbors::operator[] ( int i ) const

inline

◆ Plane() [1/4]

coal::Plane::Plane ( )

inline

◆ Plane() [2/4]

coal::Plane::Plane	(	CoalScalar	a,
		CoalScalar	b,
		CoalScalar	c,
		CoalScalar	d_
	)

inline

Construct a plane with normal direction and offset.

◆ Plane() [3/4]

coal::Plane::Plane ( const Plane & other )

inline

◆ Plane() [4/4]

coal::Plane::Plane	(	const Vec3s &	n_,
		CoalScalar	d_
	)

inline

Construct a plane with normal direction and offset.

◆ set()

void coal::ConvexBase::set	(	std::shared_ptr< std::vector< Vec3s >>	points_,
		unsigned int	num_points_
	)

protected

Set the points of the convex shape.

Parameters

ownStorage	weither the ConvexBase owns the data.
points_	list of 3D points ///
num_points_	number of 3D points

◆ setSweptSphereRadius()

void coal::ShapeBase::setSweptSphereRadius ( CoalScalar radius )

inline

Set radius of sphere swept around the shape. Must be >= 0.

◆ ShapeBase() [1/2]

coal::ShapeBase::ShapeBase ( )

inline

◆ ShapeBase() [2/2]

coal::ShapeBase::ShapeBase ( const ShapeBase & other )

inline

Copy constructor

◆ signedDistance() [1/2]

CoalScalar coal::Halfspace::signedDistance ( const Vec3s & p ) const

inline

◆ signedDistance() [2/2]

CoalScalar coal::Plane::signedDistance ( const Vec3s & p ) const

inline

◆ Sphere() [1/3]

coal::Sphere::Sphere ( )

inline

Default constructor.

◆ Sphere() [2/3]

coal::Sphere::Sphere ( CoalScalar radius_ )

inlineexplicit

◆ Sphere() [3/3]

coal::Sphere::Sphere ( const Sphere & other )

inline

◆ TriangleP() [1/3]

coal::TriangleP::TriangleP ( )

inline

◆ TriangleP() [2/3]

coal::TriangleP::TriangleP ( const TriangleP & other )

inline

◆ TriangleP() [3/3]

coal::TriangleP::TriangleP	(	const Vec3s &	a_,
		const Vec3s &	b_,
		const Vec3s &	c_
	)

inline

◆ unitNormalTest() [1/2]

void coal::Halfspace::unitNormalTest ( )

protected

Turn non-unit normal into unit.

◆ unitNormalTest() [2/2]

void coal::Plane::unitNormalTest ( )

protected

Turn non-unit normal into unit.

◆ ~ConvexBase()

virtual coal::ConvexBase::~ConvexBase ( )

virtual

◆ ~ShapeBase()

virtual coal::ShapeBase::~ShapeBase ( )

inlinevirtual

Variable Documentation

◆ center

Vec3s coal::ConvexBase::center

center of the convex polytope, this is used for collision: center is guaranteed in the internal of the polytope (as it is convex)

◆ count_

unsigned char coal::ConvexBase::Neighbors::count_

◆ d [1/2]

CoalScalar coal::Halfspace::d

Plane offset.

◆ d [2/2]

CoalScalar coal::Plane::d

Plane offset.

◆ halfLength [1/3]

CoalScalar coal::Capsule::halfLength

Half Length along z axis.

◆ halfLength [2/3]

CoalScalar coal::Cone::halfLength

Half Length along z axis.

◆ halfLength [3/3]

CoalScalar coal::Cylinder::halfLength

Half Length along z axis.

◆ halfSide

Vec3s coal::Box::halfSide

box side half-length

◆ indices

std::vector<int> coal::ConvexBase::SupportWarmStartPolytope::indices

Indices of the support points warm starts. These are the indices of the real convex, not the indices of points in the warm start polytope.

◆ m_swept_sphere_radius

CoalScalar coal::ShapeBase::m_swept_sphere_radius {0}

protected

Radius of the sphere swept around the shape. Default value is 0. Note: this property differs from inflated method of certain derived classes (e.g. Box, Sphere, Ellipsoid, Capsule, Cone, Cylinder) in the sense that inflated returns a new shape which can be inflated but also deflated. Also, an inflated shape is not rounded. It simply has a different size. Sweeping a shape with a sphere is a different operation (a Minkowski sum), which rounds the sharp corners of a shape. The swept sphere radius is a property of the shape itself and can be manually updated between collision checks.

◆ n [1/2]

Vec3s coal::Halfspace::n

Plane normal.

◆ n [2/2]

Vec3s coal::Plane::n

Plane normal.

◆ n_

unsigned int* coal::ConvexBase::Neighbors::n_

◆ neighbors

std::shared_ptr<std::vector<Neighbors> > coal::ConvexBase::neighbors

Neighbors of each vertex. It is an array of size num_points. For each vertex, it contains the number of neighbors and a list of indices pointing to them.

◆ nneighbors_

std::shared_ptr<std::vector<unsigned int> > coal::ConvexBase::nneighbors_

protected

Array of indices of the neighbors of each vertex. Since we don't know a priori the number of neighbors of each vertex, we store the indices of the neighbors in a single array. The neighbors attribute, an array of Neighbors, is used to point each vertex to the right indices in the nneighbors_ array.

◆ normals

std::shared_ptr<std::vector<Vec3s> > coal::ConvexBase::normals

An array of the normals of the polygon.

◆ num_normals_and_offsets

unsigned int coal::ConvexBase::num_normals_and_offsets

◆ num_points

unsigned int coal::ConvexBase::num_points

◆ num_support_warm_starts

constexpr size_t coal::ConvexBase::num_support_warm_starts = 14

staticconstexpr

Number of support warm starts.

◆ num_vertices_large_convex_threshold

constexpr size_t coal::ConvexBase::num_vertices_large_convex_threshold = 32

staticconstexpr

Above this threshold, the convex polytope is considered large. This influcences the way the support function is computed.

◆ offsets

std::shared_ptr<std::vector<double> > coal::ConvexBase::offsets

An array of the offsets to the normals of the polygon. Note: there are as many offsets as normals.

◆ points [1/2]

std::shared_ptr<std::vector<Vec3s> > coal::ConvexBase::points

An array of the points of the polygon.

◆ points [2/2]

std::vector<Vec3s> coal::ConvexBase::SupportWarmStartPolytope::points

Array of support points to warm start the support function computation.

◆ radii

Vec3s coal::Ellipsoid::radii

Radii of the Ellipsoid (such that on boundary: x^2/rx^2 + y^2/ry^2.

z^2/rz^2 = 1)

◆ radius [1/4]

CoalScalar coal::Sphere::radius

Radius of the sphere.

◆ radius [2/4]

CoalScalar coal::Capsule::radius

Radius of capsule.

◆ radius [3/4]

CoalScalar coal::Cone::radius

Radius of the cone.

◆ radius [4/4]

CoalScalar coal::Cylinder::radius

Radius of the cylinder.

◆ support_warm_starts

SupportWarmStartPolytope coal::ConvexBase::support_warm_starts

Support warm start polytopes.

Classes

Functions

Variables

Detailed Description

Function Documentation

◆ Box() [1/4]

◆ Box() [2/4]

◆ Box() [3/4]

◆ Box() [4/4]

◆ buildSupportWarmStart()

◆ Capsule() [1/3]

◆ Capsule() [2/3]

◆ Capsule() [3/3]

◆ clone() [1/10]

◆ clone() [2/10]

◆ clone() [3/10]

◆ clone() [4/10]

◆ clone() [5/10]

◆ clone() [6/10]

◆ clone() [7/10]

◆ clone() [8/10]

◆ clone() [9/10]

◆ clone() [10/10]

◆ computeCOM()

◆ computeLocalAABB() [1/10]

◆ computeLocalAABB() [2/10]

◆ computeLocalAABB() [3/10]

◆ computeLocalAABB() [4/10]

◆ computeLocalAABB() [5/10]

◆ computeLocalAABB() [6/10]

◆ computeLocalAABB() [7/10]

◆ computeLocalAABB() [8/10]

◆ computeLocalAABB() [9/10]

◆ computeLocalAABB() [10/10]

◆ computeMomentofInertia() [1/6]

◆ computeMomentofInertia() [2/6]

◆ computeMomentofInertia() [3/6]

◆ computeMomentofInertia() [4/6]

◆ computeMomentofInertia() [5/6]

◆ computeMomentofInertia() [6/6]

◆ computeVolume() [1/6]

◆ computeVolume() [2/6]

◆ computeVolume() [3/6]

◆ computeVolume() [4/6]

◆ computeVolume() [5/6]

◆ computeVolume() [6/6]

◆ Cone() [1/3]

◆ Cone() [2/3]

◆ Cone() [3/3]

◆ ConvexBase() [1/2]

◆ ConvexBase() [2/2]

◆ convexHull() [1/2]

◆ convexHull() [2/2]

◆ count()

◆ Cylinder() [1/3]

◆ Cylinder() [2/3]

◆ Cylinder() [3/3]

◆ distance() [1/2]

◆ distance() [2/2]

◆ Ellipsoid() [1/4]

◆ Ellipsoid() [2/4]

◆ Ellipsoid() [3/4]

◆ Ellipsoid() [4/4]

◆ getNodeType() [1/10]

◆ getNodeType() [2/10]

◆ getNodeType() [3/10]

◆ getNodeType() [4/10]

◆ getNodeType() [5/10]

◆ getNodeType() [6/10]

◆ getNodeType() [7/10]

◆ getNodeType() [8/10]

◆ getNodeType() [9/10]

◆ getNodeType() [10/10]

◆ getObjectType()

◆ getSweptSphereRadius()

◆ Halfspace() [1/4]

◆ Halfspace() [2/4]

◆ Halfspace() [3/4]

◆ Halfspace() [4/4]

◆ inflated() [1/7]