#include <hpp/fcl/shape/geometric_shapes.h>#include <hpp/fcl/math/transform.h>#include <ccd/ccd.h>#include <ccd/quat.h>
Classes | |
| class | fcl::details::GJKInitializer< T > |
| initialize GJK stuffs More... | |
| class | fcl::details::GJKInitializer< Cylinder > |
| initialize GJK Cylinder More... | |
| class | fcl::details::GJKInitializer< Sphere > |
| initialize GJK Sphere More... | |
| class | fcl::details::GJKInitializer< Box > |
| initialize GJK Box More... | |
| class | fcl::details::GJKInitializer< Capsule > |
| initialize GJK Capsule More... | |
| class | fcl::details::GJKInitializer< Cone > |
| initialize GJK Cone More... | |
| class | fcl::details::GJKInitializer< Convex > |
| initialize GJK Convex More... | |
Namespaces | |
| fcl | |
| Main namespace. | |
| fcl::details | |
| FCL internals. | |
Typedefs | |
| typedef void(* | fcl::details::GJKSupportFunction )(const void *obj, const ccd_vec3_t *dir_, ccd_vec3_t *v) |
| callback function used by GJK algorithm More... | |
| typedef void(* | fcl::details::GJKCenterFunction )(const void *obj, ccd_vec3_t *c) |
Functions | |
| GJKSupportFunction | fcl::details::triGetSupportFunction () |
| initialize GJK Triangle More... | |
| GJKCenterFunction | fcl::details::triGetCenterFunction () |
| void * | fcl::details::triCreateGJKObject (const Vec3f &P1, const Vec3f &P2, const Vec3f &P3) |
| void * | fcl::details::triCreateGJKObject (const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf) |
| void | fcl::details::triDeleteGJKObject (void *o) |
| bool | fcl::details::GJKCollide (void *obj1, ccd_support_fn supp1, ccd_center_fn cen1, void *obj2, ccd_support_fn supp2, ccd_center_fn cen2, unsigned int max_iterations, FCL_REAL tolerance, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal) |
| GJK collision algorithm. More... | |
| bool | fcl::details::GJKDistance (void *obj1, ccd_support_fn supp1, void *obj2, ccd_support_fn supp2, unsigned int max_iterations, FCL_REAL tolerance, FCL_REAL *dist, Vec3f *p1, Vec3f *p2) |
| Distance computation between objects using GJK algorithm. More... | |