fcl::details::EPA Struct Reference

class for EPA algorithm More...

#include <hpp/fcl/narrowphase/gjk.h>

Collaboration diagram for fcl::details::EPA:

Public Types
enum	Status {   Valid,   Touching,   Degenerated,   NonConvex,   InvalidHull,   OutOfFaces,   OutOfVertices,   AccuracyReached,   FallBack,   Failed }

Public Member Functions
	EPA (unsigned int max_face_num_, unsigned int max_vertex_num_, unsigned int max_iterations_, FCL_REAL tolerance_)
	~EPA ()
void	initialize ()
bool	getEdgeDist (SimplexF *face, SimplexV *a, SimplexV *b, FCL_REAL &dist)
SimplexF *	newFace (SimplexV *a, SimplexV *b, SimplexV *c, bool forced)
SimplexF *	findBest ()
	Find the best polytope face to split. More...
Status	evaluate (GJK &gjk, const Vec3f &guess)
bool	expand (size_t pass, SimplexV *w, SimplexF *f, size_t e, SimplexHorizon &horizon)
	the goal is to add a face connecting vertex w and face edge f[e] More...

Public Attributes
Status	status
GJK::Simplex	result
Vec3f	normal
FCL_REAL	depth
SimplexV *	sv_store
SimplexF *	fc_store
size_t	nextsv
SimplexList	hull
SimplexList	stock

Detailed Description

class for EPA algorithm

Member Enumeration Documentation

enum fcl::details::EPA::Status

Enumerator
Valid
Touching
Degenerated
NonConvex
InvalidHull
OutOfFaces
OutOfVertices
AccuracyReached
FallBack
Failed

Constructor & Destructor Documentation

fcl::details::EPA::EPA ( unsigned int  max_face_num_, unsigned int  max_vertex_num_, unsigned int  max_iterations_, FCL_REAL  tolerance_  )

inline

References initialize().

fcl::details::EPA::~EPA ( )

inline

References fc_store, and sv_store.

Member Function Documentation

Status fcl::details::EPA::evaluate	(	GJK &	gjk,
		const Vec3f &	guess
	)

Referenced by fcl::GJKSolver_indep::shapeIntersect(), and fcl::GJKSolver_indep::shapeTriangleIntersect().

bool fcl::details::EPA::expand	(	size_t	pass,
		SimplexV *	w,
		SimplexF *	f,
		size_t	e,
		SimplexHorizon &	horizon
	)

the goal is to add a face connecting vertex w and face edge f[e]

SimplexF* fcl::details::EPA::findBest

(

)

Find the best polytope face to split.

bool fcl::details::EPA::getEdgeDist	(	SimplexF *	face,
		SimplexV *	a,
		SimplexV *	b,
		FCL_REAL &	dist
	)

void fcl::details::EPA::initialize

(

)

Referenced by EPA().

SimplexF* fcl::details::EPA::newFace	(	SimplexV *	a,
		SimplexV *	b,
		SimplexV *	c,
		bool	forced
	)

Member Data Documentation

FCL_REAL fcl::details::EPA::depth

Referenced by fcl::GJKSolver_indep::shapeIntersect(), and fcl::GJKSolver_indep::shapeTriangleIntersect().

SimplexF* fcl::details::EPA::fc_store

Referenced by ~EPA().

SimplexList fcl::details::EPA::hull

size_t fcl::details::EPA::nextsv

Vec3f fcl::details::EPA::normal

Referenced by fcl::GJKSolver_indep::shapeIntersect(), and fcl::GJKSolver_indep::shapeTriangleIntersect().

GJK::Simplex fcl::details::EPA::result

Referenced by fcl::GJKSolver_indep::shapeIntersect(), and fcl::GJKSolver_indep::shapeTriangleIntersect().

Status fcl::details::EPA::status

SimplexList fcl::details::EPA::stock

SimplexV* fcl::details::EPA::sv_store

Referenced by ~EPA().