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>
Vec3f	getSupport (const ShapeBase *shape, const Vec3f &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 Vec3f &dir, Vec3f &support, int &, ShapeSupportData &)
	Triangle support function. More...

template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupport (const Box *box, const Vec3f &dir, Vec3f &support, int &, ShapeSupportData &)
	Box support function. More...

template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupport (const Sphere *sphere, const Vec3f &dir, Vec3f &support, int &, ShapeSupportData &)
	Sphere support function. More...

template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupport (const Ellipsoid *ellipsoid, const Vec3f &dir, Vec3f &support, int &, ShapeSupportData &)
	Ellipsoid support function. More...

template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupport (const Capsule *capsule, const Vec3f &dir, Vec3f &support, int &, ShapeSupportData &)
	Capsule support function. More...

template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupport (const Cone *cone, const Vec3f &dir, Vec3f &support, int &, ShapeSupportData &)
	Cone support function. More...

template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupport (const Cylinder *cylinder, const Vec3f &dir, Vec3f &support, int &, ShapeSupportData &)
	Cylinder support function. More...

template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupport (const ConvexBase *convex, const Vec3f &dir, Vec3f &support, int &hint, ShapeSupportData &)
	ConvexBase support function. More...

template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupport (const SmallConvex *convex, const Vec3f &dir, Vec3f &support, int &hint, ShapeSupportData &data)
	Support function for large ConvexBase (>32 vertices). More...

template<int _SupportOptions = SupportOptions::NoSweptSphere>
void	getShapeSupport (const LargeConvex *convex, const Vec3f &dir, Vec3f &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, FCL_REAL tol=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 Vec3f &dir, SupportSet &support_set, int &hint, size_t num_sampled_supports=6, FCL_REAL tol=1e-3)
	Same as getSupportSet(const ShapeBase*, const FCL_REAL, 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, FCL_REAL tol=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, FCL_REAL tol=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, FCL_REAL tol=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, FCL_REAL tol=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, FCL_REAL tol=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, FCL_REAL tol=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, FCL_REAL tol=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, FCL_REAL tol=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, FCL_REAL tol=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, FCL_REAL tol=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...

FCL_REAL	sphereCapsuleDistance (const Sphere &s1, const Transform3f &tf1, const Capsule &s2, const Transform3f &tf2, Vec3f &p1, Vec3f &p2, Vec3f &normal)

FCL_REAL	sphereCylinderDistance (const Sphere &s1, const Transform3f &tf1, const Cylinder &s2, const Transform3f &tf2, Vec3f &p1, Vec3f &p2, Vec3f &normal)

FCL_REAL	sphereSphereDistance (const Sphere &s1, const Transform3f &tf1, const Sphere &s2, const Transform3f &tf2, Vec3f &p1, Vec3f &p2, Vec3f &normal)

FCL_REAL	segmentSqrDistance (const Vec3f &from, const Vec3f &to, const Vec3f &p, Vec3f &nearest)
	the minimum distance from a point to a line More...

bool	projectInTriangle (const Vec3f &p1, const Vec3f &p2, const Vec3f &p3, const Vec3f &normal, const Vec3f &p)
	Whether a point's projection is in a triangle. More...

FCL_REAL	sphereTriangleDistance (const Sphere &s, const Transform3f &tf1, const TriangleP &tri, const Transform3f &tf2, Vec3f &p1, Vec3f &p2, Vec3f &normal)

FCL_REAL	halfspaceDistance (const Halfspace &h, const Transform3f &tf1, const ShapeBase &s, const Transform3f &tf2, Vec3f &p1, Vec3f &p2, Vec3f &normal)

FCL_REAL	planeDistance (const Plane &plane, const Transform3f &tf1, const ShapeBase &s, const Transform3f &tf2, Vec3f &p1, Vec3f &p2, Vec3f &normal)

FCL_REAL	boxSphereDistance (const Box &b, const Transform3f &tfb, const Sphere &s, const Transform3f &tfs, Vec3f &pb, Vec3f &ps, Vec3f &normal)

FCL_REAL	halfspaceHalfspaceDistance (const Halfspace &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, Vec3f &p1, Vec3f &p2, Vec3f &normal)
	return distance between two halfspaces More...

FCL_REAL	halfspacePlaneDistance (const Halfspace &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, Vec3f &p1, Vec3f &p2, Vec3f &normal)
	return distance between plane and halfspace. More...

FCL_REAL	planePlaneDistance (const Plane &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, Vec3f &p1, Vec3f &p2, Vec3f &normal)
	return distance between two planes More...

FCL_REAL	computePenetration (const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Vec3f &Q1, const Vec3f &Q2, const Vec3f &Q3, Vec3f &normal)
	See the prototype below. More...

FCL_REAL	computePenetration (const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Vec3f &Q1, const Vec3f &Q2, const Vec3f &Q3, const Transform3f &tf1, const Transform3f &tf2, Vec3f &normal)

Enumeration Type Documentation

◆ SupportOptions

enum hpp::fcl::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()

FCL_REAL hpp::fcl::details::boxSphereDistance	(	const Box &	b,
		const Transform3f &	tfb,
		const Sphere &	s,
		const Transform3f &	tfs,
		Vec3f &	pb,
		Vec3f &	ps,
		Vec3f &	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]

FCL_REAL hpp::fcl::details::computePenetration	(	const Vec3f &	P1,
		const Vec3f &	P2,
		const Vec3f &	P3,
		const Vec3f &	Q1,
		const Vec3f &	Q2,
		const Vec3f &	Q3,
		const Transform3f &	tf1,
		const Transform3f &	tf2,
		Vec3f &	normal
	)

inline

◆ computePenetration() [2/2]

FCL_REAL hpp::fcl::details::computePenetration	(	const Vec3f &	P1,
		const Vec3f &	P2,
		const Vec3f &	P3,
		const Vec3f &	Q1,
		const Vec3f &	Q2,
		const Vec3f &	Q3,
		Vec3f &	normal
	)

inline

See the prototype below.

◆ computeSupportSetConvexHull()

void hpp::fcl::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 hpp::fcl::details::getShapeSupport	(	const Box *	box,
		const Vec3f &	dir,
		Vec3f &	support,
		int &	,
		ShapeSupportData &
	)

Box support function.

◆ getShapeSupport() [2/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void hpp::fcl::details::getShapeSupport	(	const Capsule *	capsule,
		const Vec3f &	dir,
		Vec3f &	support,
		int &	,
		ShapeSupportData &
	)

Capsule support function.

◆ getShapeSupport() [3/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void hpp::fcl::details::getShapeSupport	(	const Cone *	cone,
		const Vec3f &	dir,
		Vec3f &	support,
		int &	,
		ShapeSupportData &
	)

Cone support function.

◆ getShapeSupport() [4/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void hpp::fcl::details::getShapeSupport	(	const ConvexBase *	convex,
		const Vec3f &	dir,
		Vec3f &	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 hpp::fcl::details::getShapeSupport	(	const Cylinder *	cylinder,
		const Vec3f &	dir,
		Vec3f &	support,
		int &	,
		ShapeSupportData &
	)

Cylinder support function.

◆ getShapeSupport() [6/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void hpp::fcl::details::getShapeSupport	(	const Ellipsoid *	ellipsoid,
		const Vec3f &	dir,
		Vec3f &	support,
		int &	,
		ShapeSupportData &
	)

Ellipsoid support function.

◆ getShapeSupport() [7/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void hpp::fcl::details::getShapeSupport	(	const LargeConvex *	convex,
		const Vec3f &	dir,
		Vec3f &	support,
		int &	hint,
		ShapeSupportData &	support_data
	)

Support function for small ConvexBase (<32 vertices).

◆ getShapeSupport() [8/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void hpp::fcl::details::getShapeSupport	(	const SmallConvex *	convex,
		const Vec3f &	dir,
		Vec3f &	support,
		int &	hint,
		ShapeSupportData &	data
	)

Support function for large ConvexBase (>32 vertices).

◆ getShapeSupport() [9/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void hpp::fcl::details::getShapeSupport	(	const Sphere *	sphere,
		const Vec3f &	dir,
		Vec3f &	support,
		int &	,
		ShapeSupportData &
	)

Sphere support function.

◆ getShapeSupport() [10/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void hpp::fcl::details::getShapeSupport	(	const TriangleP *	triangle,
		const Vec3f &	dir,
		Vec3f &	support,
		int &	,
		ShapeSupportData &
	)

Triangle support function.

◆ getShapeSupportSet() [1/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

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

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

◆ getShapeSupportSet() [2/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

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

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

◆ getShapeSupportSet() [3/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

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

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

◆ getShapeSupportSet() [4/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void hpp::fcl::details::getShapeSupportSet	(	const ConvexBase *	convex,
		SupportSet &	support_set,
		int &	hint,
		ShapeSupportData &	support_data,
		size_t	num_sampled_supports = `6`,
		FCL_REAL	tol = `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 hpp::fcl::details::getShapeSupportSet	(	const Cylinder *	cylinder,
		SupportSet &	support_set,
		int &	,
		ShapeSupportData &	,
		size_t	num_sampled_supports = `6`,
		FCL_REAL	tol = `1e-3`
	)

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

◆ getShapeSupportSet() [6/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

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

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

◆ getShapeSupportSet() [7/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

void hpp::fcl::details::getShapeSupportSet	(	const LargeConvex *	convex,
		SupportSet &	support_set,
		int &	hint,
		ShapeSupportData &	support_data,
		size_t	num_sampled_supports = `6`,
		FCL_REAL	tol = `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 hpp::fcl::details::getShapeSupportSet	(	const SmallConvex *	convex,
		SupportSet &	support_set,
		int &	,
		ShapeSupportData &	,
		size_t	num_sampled_supports = `6`,
		FCL_REAL	tol = `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 hpp::fcl::details::getShapeSupportSet	(	const Sphere *	sphere,
		SupportSet &	support_set,
		int &	,
		ShapeSupportData &	,
		size_t	num_sampled_supports = `6`,
		FCL_REAL	tol = `1e-3`
	)

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

◆ getShapeSupportSet() [10/10]

template<int _SupportOptions = SupportOptions::NoSweptSphere>

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

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

◆ getSupport()

template<int _SupportOptions = SupportOptions::NoSweptSphere>

Vec3f hpp::fcl::details::getSupport	(	const ShapeBase *	shape,
		const Vec3f &	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 hpp::fcl::details::getSupportSet	(	const ShapeBase *	shape,
		const Vec3f &	dir,
		SupportSet &	support_set,
		int &	hint,
		size_t	num_sampled_supports = `6`,
		FCL_REAL	tol = `1e-3`
	)

Same as getSupportSet(const ShapeBase*, const FCL_REAL, 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 hpp::fcl::details::getSupportSet	(	const ShapeBase *	shape,
		SupportSet &	support_set,
		int &	hint,
		size_t	num_sampled_supports = `6`,
		FCL_REAL	tol = `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()

FCL_REAL hpp::fcl::details::halfspaceDistance	(	const Halfspace &	h,
		const Transform3f &	tf1,
		const ShapeBase &	s,
		const Transform3f &	tf2,
		Vec3f &	p1,
		Vec3f &	p2,
		Vec3f &	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()

FCL_REAL hpp::fcl::details::halfspaceHalfspaceDistance	(	const Halfspace &	s1,
		const Transform3f &	tf1,
		const Halfspace &	s2,
		const Transform3f &	tf2,
		Vec3f &	p1,
		Vec3f &	p2,
		Vec3f &	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()

FCL_REAL hpp::fcl::details::halfspacePlaneDistance	(	const Halfspace &	s1,
		const Transform3f &	tf1,
		const Plane &	s2,
		const Transform3f &	tf2,
		Vec3f &	p1,
		Vec3f &	p2,
		Vec3f &	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()

FCL_REAL hpp::fcl::details::planeDistance	(	const Plane &	plane,
		const Transform3f &	tf1,
		const ShapeBase &	s,
		const Transform3f &	tf2,
		Vec3f &	p1,
		Vec3f &	p2,
		Vec3f &	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()

FCL_REAL hpp::fcl::details::planePlaneDistance	(	const Plane &	s1,
		const Transform3f &	tf1,
		const Plane &	s2,
		const Transform3f &	tf2,
		Vec3f &	p1,
		Vec3f &	p2,
		Vec3f &	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 hpp::fcl::details::projectInTriangle	(	const Vec3f &	p1,
		const Vec3f &	p2,
		const Vec3f &	p3,
		const Vec3f &	normal,
		const Vec3f &	p
	)

inline

Whether a point's projection is in a triangle.

◆ segmentSqrDistance()

FCL_REAL hpp::fcl::details::segmentSqrDistance	(	const Vec3f &	from,
		const Vec3f &	to,
		const Vec3f &	p,
		Vec3f &	nearest
	)

inline

the minimum distance from a point to a line

◆ sphereCapsuleDistance()

FCL_REAL hpp::fcl::details::sphereCapsuleDistance	(	const Sphere &	s1,
		const Transform3f &	tf1,
		const Capsule &	s2,
		const Transform3f &	tf2,
		Vec3f &	p1,
		Vec3f &	p2,
		Vec3f &	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()

FCL_REAL hpp::fcl::details::sphereCylinderDistance	(	const Sphere &	s1,
		const Transform3f &	tf1,
		const Cylinder &	s2,
		const Transform3f &	tf2,
		Vec3f &	p1,
		Vec3f &	p2,
		Vec3f &	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()

FCL_REAL hpp::fcl::details::sphereSphereDistance	(	const Sphere &	s1,
		const Transform3f &	tf1,
		const Sphere &	s2,
		const Transform3f &	tf2,
		Vec3f &	p1,
		Vec3f &	p2,
		Vec3f &	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()

FCL_REAL hpp::fcl::details::sphereTriangleDistance	(	const Sphere &	s,
		const Transform3f &	tf1,
		const TriangleP &	tri,
		const Transform3f &	tf2,
		Vec3f &	p1,
		Vec3f &	p2,
		Vec3f &	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).

Classes

Enumerations

Functions

Enumeration Type Documentation

◆ SupportOptions

Function Documentation

◆ boxSphereDistance()

◆ computePenetration() [1/2]

◆ computePenetration() [2/2]

◆ computeSupportSetConvexHull()

◆ getShapeSupport() [1/10]

◆ getShapeSupport() [2/10]

◆ getShapeSupport() [3/10]

◆ getShapeSupport() [4/10]

◆ getShapeSupport() [5/10]

◆ getShapeSupport() [6/10]

◆ getShapeSupport() [7/10]

◆ getShapeSupport() [8/10]

◆ getShapeSupport() [9/10]

◆ getShapeSupport() [10/10]

◆ getShapeSupportSet() [1/10]

◆ getShapeSupportSet() [2/10]

◆ getShapeSupportSet() [3/10]

◆ getShapeSupportSet() [4/10]

◆ getShapeSupportSet() [5/10]

◆ getShapeSupportSet() [6/10]

◆ getShapeSupportSet() [7/10]

◆ getShapeSupportSet() [8/10]

◆ getShapeSupportSet() [9/10]

◆ getShapeSupportSet() [10/10]

◆ getSupport()

◆ getSupportSet() [1/2]

◆ getSupportSet() [2/2]

◆ halfspaceDistance()

◆ halfspaceHalfspaceDistance()

◆ halfspacePlaneDistance()

◆ planeDistance()

◆ planePlaneDistance()

◆ projectInTriangle()

◆ segmentSqrDistance()

◆ sphereCapsuleDistance()

◆ sphereCylinderDistance()

◆ sphereSphereDistance()

◆ sphereTriangleDistance()