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fcl::GJKSolver_indep Struct Reference

collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the GJK in bullet) More...

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

Collaboration diagram for fcl::GJKSolver_indep:
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Public Member Functions

template<typename S1 , typename S2 >
bool shapeIntersect (const S1 &s1, const Transform3f &tf1, const S2 &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
 intersection checking between two shapes More...
 
template<typename S >
bool shapeTriangleIntersect (const S &s, const Transform3f &tf, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
 intersection checking between one shape and a triangle More...
 
template<typename S >
bool shapeTriangleIntersect (const S &s, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
 
template<typename S1 , typename S2 >
bool shapeDistance (const S1 &s1, const Transform3f &tf1, const S2 &s2, const Transform3f &tf2, FCL_REAL *distance, Vec3f *p1, Vec3f *p2) const
 distance computation between two shapes More...
 
template<typename S1 , typename S2 >
bool shapeDistance (const S1 &s1, const Transform3f &tf1, const S2 &s2, const Transform3f &tf2, FCL_REAL *distance) const
 
template<typename S >
bool shapeTriangleDistance (const S &s, const Transform3f &tf, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, FCL_REAL *distance, Vec3f *p1, Vec3f *p2) const
 distance computation between one shape and a triangle More...
 
template<typename S >
bool shapeTriangleDistance (const S &s, const Transform3f &tf, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, FCL_REAL *distance) const
 
template<typename S >
bool shapeTriangleDistance (const S &s, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf2, FCL_REAL *distance, Vec3f *p1, Vec3f *p2) const
 distance computation between one shape and a triangle with transformation More...
 
template<typename S >
bool shapeTriangleDistance (const S &s, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf2, FCL_REAL *distance) const
 
 GJKSolver_indep ()
 default setting for GJK algorithm More...
 
void enableCachedGuess (bool if_enable) const
 
void setCachedGuess (const Vec3f &guess) const
 
Vec3f getCachedGuess () const
 
template<>
bool shapeIntersect (const Sphere &s1, const Transform3f &tf1, const Capsule &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
 
template<>
bool shapeIntersect (const Sphere &s1, const Transform3f &tf1, const Sphere &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
 Fast implementation for sphere-sphere collision. More...
 
template<>
bool shapeIntersect (const Box &s1, const Transform3f &tf1, const Box &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
 Fast implementation for box-box collision. More...
 
template<>
bool shapeIntersect (const Sphere &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
 
template<>
bool shapeIntersect (const Box &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
 
template<>
bool shapeIntersect (const Capsule &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
 
template<>
bool shapeIntersect (const Cylinder &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
 
template<>
bool shapeIntersect (const Cone &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
 
template<>
bool shapeIntersect (const Halfspace &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
 
template<>
bool shapeIntersect (const Plane &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
 
template<>
bool shapeIntersect (const Sphere &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
 
template<>
bool shapeIntersect (const Box &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
 
template<>
bool shapeIntersect (const Capsule &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
 
template<>
bool shapeIntersect (const Cylinder &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
 
template<>
bool shapeIntersect (const Cone &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
 
template<>
bool shapeIntersect (const Halfspace &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
 
template<>
bool shapeIntersect (const Plane &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
 
template<>
bool shapeTriangleIntersect (const Sphere &s, const Transform3f &tf, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
 Fast implementation for sphere-triangle collision. More...
 
template<>
bool shapeTriangleIntersect (const Sphere &s, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
 Fast implementation for sphere-triangle collision. More...
 
template<>
bool shapeTriangleIntersect (const Halfspace &s, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
 
template<>
bool shapeTriangleIntersect (const Plane &s, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) const
 
template<>
bool shapeDistance (const Sphere &s1, const Transform3f &tf1, const Capsule &s2, const Transform3f &tf2, FCL_REAL *dist, Vec3f *p1, Vec3f *p2) const
 
template<>
bool shapeDistance (const Capsule &s1, const Transform3f &tf1, const Capsule &s2, const Transform3f &tf2, FCL_REAL *dist, Vec3f *p1, Vec3f *p2) const
 
template<>
bool shapeDistance (const Sphere &s1, const Transform3f &tf1, const Sphere &s2, const Transform3f &tf2, FCL_REAL *dist, Vec3f *p1, Vec3f *p2) const
 Fast implementation for sphere-sphere distance. More...
 
template<>
bool shapeTriangleDistance (const Sphere &s, const Transform3f &tf, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, FCL_REAL *dist, Vec3f *p1, Vec3f *p2) const
 Fast implementation for sphere-triangle distance. More...
 
template<>
bool shapeTriangleDistance (const Sphere &s, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf2, FCL_REAL *dist, Vec3f *p1, Vec3f *p2) const
 Fast implementation for sphere-triangle distance. More...
 

Public Attributes

unsigned int epa_max_face_num
 maximum number of simplex face used in EPA algorithm More...
 
unsigned int epa_max_vertex_num
 maximum number of simplex vertex used in EPA algorithm More...
 
unsigned int epa_max_iterations
 maximum number of iterations used for EPA iterations More...
 
FCL_REAL epa_tolerance
 the threshold used in EPA to stop iteration More...
 
FCL_REAL gjk_tolerance
 the threshold used in GJK to stop iteration More...
 
FCL_REAL gjk_max_iterations
 maximum number of iterations used for GJK iterations More...
 
bool enable_cached_guess
 Whether smart guess can be provided. More...
 
Vec3f cached_guess
 smart guess More...
 

Detailed Description

collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the GJK in bullet)

Constructor & Destructor Documentation

fcl::GJKSolver_indep::GJKSolver_indep ( )
inline

default setting for GJK algorithm

References cached_guess, enable_cached_guess, epa_max_face_num, epa_max_iterations, epa_max_vertex_num, epa_tolerance, gjk_max_iterations, and gjk_tolerance.

Member Function Documentation

void fcl::GJKSolver_indep::enableCachedGuess ( bool  if_enable) const
inline

References enable_cached_guess.

Vec3f fcl::GJKSolver_indep::getCachedGuess ( ) const
inline

References cached_guess.

void fcl::GJKSolver_indep::setCachedGuess ( const Vec3f &  guess) const
inline

References cached_guess.

template<typename S1 , typename S2 >
bool fcl::GJKSolver_indep::shapeDistance ( const S1 &  s1,
const Transform3f &  tf1,
const S2 &  s2,
const Transform3f &  tf2,
FCL_REAL *  distance,
Vec3f *  p1,
Vec3f *  p2 
) const
inline

distance computation between two shapes

References fcl::details::GJK::Simplex::c, cached_guess, fcl::details::GJK::SimplexV::d, enable_cached_guess, fcl::details::GJK::evaluate(), fcl::details::GJK::getGuessFromSimplex(), fcl::Transform3f::getRotation(), fcl::details::GJK::getSimplex(), gjk_max_iterations, gjk_tolerance, fcl::Transform3f::inverseTimes(), fcl::details::GJK::Simplex::p, fcl::details::GJK::Simplex::rank, fcl::details::MinkowskiDiff::shapes, fcl::details::MinkowskiDiff::support(), fcl::details::MinkowskiDiff::toshape0, fcl::details::MinkowskiDiff::toshape1, fcl::Transform3f::transform(), fcl::Matrix3fX< T >::transposeTimes(), and fcl::details::GJK::Valid.

Referenced by shapeDistance().

template<typename S1 , typename S2 >
bool fcl::GJKSolver_indep::shapeDistance ( const S1 &  s1,
const Transform3f &  tf1,
const S2 &  s2,
const Transform3f &  tf2,
FCL_REAL *  distance 
) const
inline

References shapeDistance().

template<>
bool fcl::GJKSolver_indep::shapeDistance ( const Sphere &  s1,
const Transform3f &  tf1,
const Capsule &  s2,
const Transform3f &  tf2,
FCL_REAL *  dist,
Vec3f *  p1,
Vec3f *  p2 
) const
template<>
bool fcl::GJKSolver_indep::shapeDistance ( const Capsule &  s1,
const Transform3f &  tf1,
const Capsule &  s2,
const Transform3f &  tf2,
FCL_REAL *  dist,
Vec3f *  p1,
Vec3f *  p2 
) const
template<>
bool fcl::GJKSolver_indep::shapeDistance ( const Sphere &  s1,
const Transform3f &  tf1,
const Sphere &  s2,
const Transform3f &  tf2,
FCL_REAL *  dist,
Vec3f *  p1,
Vec3f *  p2 
) const

Fast implementation for sphere-sphere distance.

template<typename S1 , typename S2 >
bool fcl::GJKSolver_indep::shapeIntersect ( const S1 &  s1,
const Transform3f &  tf1,
const S2 &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const
inline

intersection checking between two shapes

References fcl::details::GJK::Simplex::c, cached_guess, fcl::details::GJK::SimplexV::d, fcl::details::EPA::depth, enable_cached_guess, epa_max_face_num, epa_max_iterations, epa_max_vertex_num, epa_tolerance, fcl::details::GJK::evaluate(), fcl::details::EPA::evaluate(), fcl::details::EPA::Failed, fcl::details::GJK::getGuessFromSimplex(), fcl::Transform3f::getRotation(), gjk_max_iterations, gjk_tolerance, fcl::details::GJK::Inside, fcl::Transform3f::inverseTimes(), fcl::details::EPA::normal, fcl::details::GJK::Simplex::p, fcl::details::GJK::Simplex::rank, fcl::details::EPA::result, fcl::details::MinkowskiDiff::shapes, fcl::details::MinkowskiDiff::support(), fcl::details::MinkowskiDiff::toshape0, fcl::details::MinkowskiDiff::toshape1, fcl::Transform3f::transform(), and fcl::Matrix3fX< T >::transposeTimes().

template<>
bool fcl::GJKSolver_indep::shapeIntersect ( const Sphere &  s1,
const Transform3f &  tf1,
const Capsule &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const
template<>
bool fcl::GJKSolver_indep::shapeIntersect ( const Sphere &  s1,
const Transform3f &  tf1,
const Sphere &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const

Fast implementation for sphere-sphere collision.

template<>
bool fcl::GJKSolver_indep::shapeIntersect ( const Box &  s1,
const Transform3f &  tf1,
const Box &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const

Fast implementation for box-box collision.

template<>
bool fcl::GJKSolver_indep::shapeIntersect ( const Sphere &  s1,
const Transform3f &  tf1,
const Halfspace &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const
template<>
bool fcl::GJKSolver_indep::shapeIntersect ( const Box &  s1,
const Transform3f &  tf1,
const Halfspace &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const
template<>
bool fcl::GJKSolver_indep::shapeIntersect ( const Capsule &  s1,
const Transform3f &  tf1,
const Halfspace &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const
template<>
bool fcl::GJKSolver_indep::shapeIntersect ( const Cylinder &  s1,
const Transform3f &  tf1,
const Halfspace &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const
template<>
bool fcl::GJKSolver_indep::shapeIntersect ( const Cone &  s1,
const Transform3f &  tf1,
const Halfspace &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const
template<>
bool fcl::GJKSolver_indep::shapeIntersect ( const Halfspace &  s1,
const Transform3f &  tf1,
const Halfspace &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const
template<>
bool fcl::GJKSolver_indep::shapeIntersect ( const Plane &  s1,
const Transform3f &  tf1,
const Halfspace &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const
template<>
bool fcl::GJKSolver_indep::shapeIntersect ( const Sphere &  s1,
const Transform3f &  tf1,
const Plane &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const
template<>
bool fcl::GJKSolver_indep::shapeIntersect ( const Box &  s1,
const Transform3f &  tf1,
const Plane &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const
template<>
bool fcl::GJKSolver_indep::shapeIntersect ( const Capsule &  s1,
const Transform3f &  tf1,
const Plane &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const
template<>
bool fcl::GJKSolver_indep::shapeIntersect ( const Cylinder &  s1,
const Transform3f &  tf1,
const Plane &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const
template<>
bool fcl::GJKSolver_indep::shapeIntersect ( const Cone &  s1,
const Transform3f &  tf1,
const Plane &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const
template<>
bool fcl::GJKSolver_indep::shapeIntersect ( const Halfspace &  s1,
const Transform3f &  tf1,
const Plane &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const
template<>
bool fcl::GJKSolver_indep::shapeIntersect ( const Plane &  s1,
const Transform3f &  tf1,
const Plane &  s2,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const
template<typename S >
bool fcl::GJKSolver_indep::shapeTriangleDistance ( const S &  s,
const Transform3f &  tf,
const Vec3f &  P1,
const Vec3f &  P2,
const Vec3f &  P3,
FCL_REAL *  distance,
Vec3f *  p1,
Vec3f *  p2 
) const
inline

distance computation between one shape and a triangle

References fcl::details::GJK::Simplex::c, cached_guess, fcl::details::GJK::SimplexV::d, enable_cached_guess, fcl::details::GJK::evaluate(), fcl::details::GJK::getGuessFromSimplex(), fcl::Transform3f::getRotation(), fcl::details::GJK::getSimplex(), gjk_max_iterations, gjk_tolerance, fcl::inverse(), fcl::details::GJK::Simplex::p, fcl::details::GJK::Simplex::rank, fcl::details::MinkowskiDiff::shapes, fcl::details::MinkowskiDiff::support(), fcl::details::MinkowskiDiff::toshape0, fcl::details::MinkowskiDiff::toshape1, fcl::Transform3f::transform(), and fcl::details::GJK::Valid.

Referenced by shapeTriangleDistance().

template<typename S >
bool fcl::GJKSolver_indep::shapeTriangleDistance ( const S &  s,
const Transform3f &  tf,
const Vec3f &  P1,
const Vec3f &  P2,
const Vec3f &  P3,
FCL_REAL *  distance 
) const
inline

References shapeTriangleDistance().

template<typename S >
bool fcl::GJKSolver_indep::shapeTriangleDistance ( const S &  s,
const Transform3f &  tf1,
const Vec3f &  P1,
const Vec3f &  P2,
const Vec3f &  P3,
const Transform3f &  tf2,
FCL_REAL *  distance,
Vec3f *  p1,
Vec3f *  p2 
) const
inline

distance computation between one shape and a triangle with transformation

References fcl::details::GJK::Simplex::c, cached_guess, fcl::details::GJK::SimplexV::d, enable_cached_guess, fcl::details::GJK::evaluate(), fcl::details::GJK::getGuessFromSimplex(), fcl::Transform3f::getRotation(), fcl::details::GJK::getSimplex(), gjk_max_iterations, gjk_tolerance, fcl::Transform3f::inverseTimes(), fcl::details::GJK::Simplex::p, fcl::details::GJK::Simplex::rank, fcl::details::MinkowskiDiff::shapes, fcl::details::MinkowskiDiff::support(), fcl::details::MinkowskiDiff::toshape0, fcl::details::MinkowskiDiff::toshape1, fcl::Transform3f::transform(), fcl::Matrix3fX< T >::transposeTimes(), and fcl::details::GJK::Valid.

template<typename S >
bool fcl::GJKSolver_indep::shapeTriangleDistance ( const S &  s,
const Transform3f &  tf1,
const Vec3f &  P1,
const Vec3f &  P2,
const Vec3f &  P3,
const Transform3f &  tf2,
FCL_REAL *  distance 
) const
inline

References shapeTriangleDistance().

template<>
bool fcl::GJKSolver_indep::shapeTriangleDistance ( const Sphere &  s,
const Transform3f &  tf,
const Vec3f &  P1,
const Vec3f &  P2,
const Vec3f &  P3,
FCL_REAL *  dist,
Vec3f *  p1,
Vec3f *  p2 
) const

Fast implementation for sphere-triangle distance.

template<>
bool fcl::GJKSolver_indep::shapeTriangleDistance ( const Sphere &  s,
const Transform3f &  tf1,
const Vec3f &  P1,
const Vec3f &  P2,
const Vec3f &  P3,
const Transform3f &  tf2,
FCL_REAL *  dist,
Vec3f *  p1,
Vec3f *  p2 
) const

Fast implementation for sphere-triangle distance.

template<typename S >
bool fcl::GJKSolver_indep::shapeTriangleIntersect ( const S &  s,
const Transform3f &  tf,
const Vec3f &  P1,
const Vec3f &  P2,
const Vec3f &  P3,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const
inline

intersection checking between one shape and a triangle

References fcl::details::GJK::Simplex::c, cached_guess, fcl::details::GJK::SimplexV::d, fcl::details::EPA::depth, enable_cached_guess, epa_max_face_num, epa_max_iterations, epa_max_vertex_num, epa_tolerance, fcl::details::GJK::evaluate(), fcl::details::EPA::evaluate(), fcl::details::EPA::Failed, fcl::details::GJK::getGuessFromSimplex(), fcl::Transform3f::getRotation(), gjk_max_iterations, gjk_tolerance, fcl::details::GJK::Inside, fcl::inverse(), fcl::details::EPA::normal, fcl::details::GJK::Simplex::p, fcl::details::GJK::Simplex::rank, fcl::details::EPA::result, fcl::details::MinkowskiDiff::shapes, fcl::details::MinkowskiDiff::support(), fcl::details::MinkowskiDiff::toshape0, fcl::details::MinkowskiDiff::toshape1, and fcl::Transform3f::transform().

template<typename S >
bool fcl::GJKSolver_indep::shapeTriangleIntersect ( const S &  s,
const Transform3f &  tf1,
const Vec3f &  P1,
const Vec3f &  P2,
const Vec3f &  P3,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const
inline

References fcl::details::GJK::Simplex::c, cached_guess, fcl::details::GJK::SimplexV::d, fcl::details::EPA::depth, enable_cached_guess, epa_max_face_num, epa_max_iterations, epa_max_vertex_num, epa_tolerance, fcl::details::GJK::evaluate(), fcl::details::EPA::evaluate(), fcl::details::EPA::Failed, fcl::details::GJK::getGuessFromSimplex(), fcl::Transform3f::getRotation(), gjk_max_iterations, gjk_tolerance, fcl::details::GJK::Inside, fcl::Transform3f::inverseTimes(), fcl::details::EPA::normal, fcl::details::GJK::Simplex::p, fcl::details::GJK::Simplex::rank, fcl::details::EPA::result, fcl::details::MinkowskiDiff::shapes, fcl::details::MinkowskiDiff::support(), fcl::details::MinkowskiDiff::toshape0, fcl::details::MinkowskiDiff::toshape1, fcl::Transform3f::transform(), and fcl::Matrix3fX< T >::transposeTimes().

template<>
bool fcl::GJKSolver_indep::shapeTriangleIntersect ( const Sphere &  s,
const Transform3f &  tf,
const Vec3f &  P1,
const Vec3f &  P2,
const Vec3f &  P3,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const

Fast implementation for sphere-triangle collision.

template<>
bool fcl::GJKSolver_indep::shapeTriangleIntersect ( const Sphere &  s,
const Transform3f &  tf1,
const Vec3f &  P1,
const Vec3f &  P2,
const Vec3f &  P3,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const

Fast implementation for sphere-triangle collision.

template<>
bool fcl::GJKSolver_indep::shapeTriangleIntersect ( const Halfspace &  s,
const Transform3f &  tf1,
const Vec3f &  P1,
const Vec3f &  P2,
const Vec3f &  P3,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const
template<>
bool fcl::GJKSolver_indep::shapeTriangleIntersect ( const Plane &  s,
const Transform3f &  tf1,
const Vec3f &  P1,
const Vec3f &  P2,
const Vec3f &  P3,
const Transform3f &  tf2,
Vec3f *  contact_points,
FCL_REAL *  penetration_depth,
Vec3f *  normal 
) const

Member Data Documentation

Vec3f fcl::GJKSolver_indep::cached_guess
mutable

smart guess

Referenced by getCachedGuess(), GJKSolver_indep(), setCachedGuess(), shapeDistance(), shapeIntersect(), shapeTriangleDistance(), and shapeTriangleIntersect().

bool fcl::GJKSolver_indep::enable_cached_guess
mutable

Whether smart guess can be provided.

Referenced by enableCachedGuess(), GJKSolver_indep(), shapeDistance(), shapeIntersect(), shapeTriangleDistance(), and shapeTriangleIntersect().

unsigned int fcl::GJKSolver_indep::epa_max_face_num

maximum number of simplex face used in EPA algorithm

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

unsigned int fcl::GJKSolver_indep::epa_max_iterations

maximum number of iterations used for EPA iterations

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

unsigned int fcl::GJKSolver_indep::epa_max_vertex_num

maximum number of simplex vertex used in EPA algorithm

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

FCL_REAL fcl::GJKSolver_indep::epa_tolerance

the threshold used in EPA to stop iteration

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

FCL_REAL fcl::GJKSolver_indep::gjk_max_iterations

maximum number of iterations used for GJK iterations

Referenced by GJKSolver_indep(), shapeDistance(), shapeIntersect(), shapeTriangleDistance(), and shapeTriangleIntersect().

FCL_REAL fcl::GJKSolver_indep::gjk_tolerance

the threshold used in GJK to stop iteration

Referenced by GJKSolver_indep(), shapeDistance(), shapeIntersect(), shapeTriangleDistance(), and shapeTriangleIntersect().