fcl::details::GJKInitializer< T > Class Template Reference

initialize GJK stuffs More...

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

Static Public Member Functions
static GJKSupportFunction	getSupportFunction ()
	Get GJK support function. More...
static GJKCenterFunction	getCenterFunction ()
	Get GJK center function. More...
static void *	createGJKObject (const T &, const Transform3f &)
	Get GJK object from a shape Notice that only local transformation is applied. More...
static void	deleteGJKObject (void *o)
	Delete GJK object. More...

Detailed Description

template<typename T>
class fcl::details::GJKInitializer< T >

initialize GJK stuffs

Member Function Documentation

template<typename T >

static void* fcl::details::GJKInitializer< T >::createGJKObject ( const T &  , const Transform3f &    )

inlinestatic

Get GJK object from a shape Notice that only local transformation is applied.

Gloal transformation are considered later

Referenced by fcl::GJKSolver_libccd::shapeDistance(), fcl::GJKSolver_libccd::shapeIntersect(), fcl::GJKSolver_libccd::shapeTriangleDistance(), and fcl::GJKSolver_libccd::shapeTriangleIntersect().

template<typename T >

static void fcl::details::GJKInitializer< T >::deleteGJKObject ( void *  o )

inlinestatic

Delete GJK object.

Referenced by fcl::GJKSolver_libccd::shapeDistance(), fcl::GJKSolver_libccd::shapeIntersect(), fcl::GJKSolver_libccd::shapeTriangleDistance(), and fcl::GJKSolver_libccd::shapeTriangleIntersect().

template<typename T >

static GJKCenterFunction fcl::details::GJKInitializer< T >::getCenterFunction ( )

inlinestatic

Get GJK center function.

template<typename T >

static GJKSupportFunction fcl::details::GJKInitializer< T >::getSupportFunction ( )

inlinestatic

Get GJK support function.