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fcl::GJKSolver_libccd Struct Reference

collision and distance solver based on libccd library. More...

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

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 *dist, 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 *dist) const
 
template<typename S >
bool shapeTriangleDistance (const S &s, const Transform3f &tf, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, FCL_REAL *dist, 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 *dist)
 
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 *dist, 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 *dist) const
 
 GJKSolver_libccd ()
 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
 Fast implementation for sphere-capsule collision. More...
 
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
 Fast implementation for sphere-capsule distance. More...
 
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...
 
template<>
bool shapeDistance (const Capsule &s1, const Transform3f &tf1, const Capsule &s2, const Transform3f &tf2, FCL_REAL *dist, Vec3f *p1, Vec3f *p2) const
 

Public Attributes

unsigned int max_collision_iterations
 maximum number of iterations used in GJK algorithm for collision More...
 
unsigned int max_distance_iterations
 maximum number of iterations used in GJK algorithm for distance More...
 
FCL_REAL collision_tolerance
 the threshold used in GJK algorithm to stop collision iteration More...
 
FCL_REAL distance_tolerance
 the threshold used in GJK algorithm to stop distance iteration More...
 

Detailed Description

collision and distance solver based on libccd library.

Constructor & Destructor Documentation

fcl::GJKSolver_libccd::GJKSolver_libccd ( )
inline

default setting for GJK algorithm

References collision_tolerance, distance_tolerance, max_collision_iterations, and max_distance_iterations.

Member Function Documentation

void fcl::GJKSolver_libccd::enableCachedGuess ( bool  if_enable) const
inline
Vec3f fcl::GJKSolver_libccd::getCachedGuess ( ) const
inline
void fcl::GJKSolver_libccd::setCachedGuess ( const Vec3f &  guess) const
inline
template<typename S1 , typename S2 >
bool fcl::GJKSolver_libccd::shapeDistance ( const S1 &  s1,
const Transform3f &  tf1,
const S2 &  s2,
const Transform3f &  tf2,
FCL_REAL *  dist,
Vec3f *  p1,
Vec3f *  p2 
) const
inline

distance computation between two shapes

References fcl::details::GJKInitializer< T >::createGJKObject(), fcl::details::GJKInitializer< T >::deleteGJKObject(), distance_tolerance, fcl::details::GJKDistance(), and max_distance_iterations.

Referenced by shapeDistance().

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

References shapeDistance().

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

Fast implementation for sphere-capsule distance.

template<>
bool fcl::GJKSolver_libccd::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<>
bool fcl::GJKSolver_libccd::shapeDistance ( const Capsule &  s1,
const Transform3f &  tf1,
const Capsule &  s2,
const Transform3f &  tf2,
FCL_REAL *  dist,
Vec3f *  p1,
Vec3f *  p2 
) const
template<typename S1 , typename S2 >
bool fcl::GJKSolver_libccd::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 collision_tolerance, fcl::details::GJKInitializer< T >::createGJKObject(), fcl::details::GJKInitializer< T >::deleteGJKObject(), fcl::details::GJKCollide(), and max_collision_iterations.

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

Fast implementation for sphere-capsule collision.

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

distance computation between one shape and a triangle

References fcl::details::GJKInitializer< T >::createGJKObject(), fcl::details::GJKInitializer< T >::deleteGJKObject(), distance_tolerance, fcl::details::GJKDistance(), fcl::inverse(), max_distance_iterations, fcl::details::triCreateGJKObject(), fcl::details::triDeleteGJKObject(), and fcl::details::triGetSupportFunction().

Referenced by shapeTriangleDistance().

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

References shapeTriangleDistance().

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

distance computation between one shape and a triangle with transformation

References fcl::details::GJKInitializer< T >::createGJKObject(), fcl::details::GJKInitializer< T >::deleteGJKObject(), distance_tolerance, fcl::details::GJKDistance(), fcl::inverse(), max_distance_iterations, fcl::details::triCreateGJKObject(), fcl::details::triDeleteGJKObject(), and fcl::details::triGetSupportFunction().

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

References shapeTriangleDistance().

template<>
bool fcl::GJKSolver_libccd::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_libccd::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_libccd::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 collision_tolerance, fcl::details::GJKInitializer< T >::createGJKObject(), fcl::details::GJKInitializer< T >::deleteGJKObject(), fcl::details::GJKCollide(), max_collision_iterations, fcl::details::triCreateGJKObject(), fcl::details::triDeleteGJKObject(), fcl::details::triGetCenterFunction(), and fcl::details::triGetSupportFunction().

template<typename S >
bool fcl::GJKSolver_libccd::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 collision_tolerance, fcl::details::GJKInitializer< T >::createGJKObject(), fcl::details::GJKInitializer< T >::deleteGJKObject(), fcl::details::GJKCollide(), max_collision_iterations, fcl::details::triCreateGJKObject(), fcl::details::triDeleteGJKObject(), fcl::details::triGetCenterFunction(), and fcl::details::triGetSupportFunction().

template<>
bool fcl::GJKSolver_libccd::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_libccd::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_libccd::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_libccd::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

FCL_REAL fcl::GJKSolver_libccd::collision_tolerance

the threshold used in GJK algorithm to stop collision iteration

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

FCL_REAL fcl::GJKSolver_libccd::distance_tolerance

the threshold used in GJK algorithm to stop distance iteration

Referenced by GJKSolver_libccd(), shapeDistance(), and shapeTriangleDistance().

unsigned int fcl::GJKSolver_libccd::max_collision_iterations

maximum number of iterations used in GJK algorithm for collision

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

unsigned int fcl::GJKSolver_libccd::max_distance_iterations

maximum number of iterations used in GJK algorithm for distance

Referenced by GJKSolver_libccd(), shapeDistance(), and shapeTriangleDistance().