fcl Namespace Reference

Main namespace. More...

Namespaces
	details
	FCL internals.
	implementation_array
	time
	Namespace containing time datatypes and time operations.
	tools

Classes
class	AABB
	A class describing the AABB collision structure, which is a box in 3D space determined by two diagonal points. More...
class	BallEulerJoint
class	Box
	Center at zero point, axis aligned box. More...
class	BroadPhaseCollisionManager
	Base class for broad phase collision. It helps to accelerate the collision/distance between N objects. Also support self collision, self distance and collision/distance with another M objects. More...
class	BroadPhaseContinuousCollisionManager
	Base class for broad phase continuous collision. It helps to accelerate the continuous collision/distance between N objects. Also support self collision, self distance and collision/distance with another M objects. More...
class	BVFitter
	The class for the default algorithm fitting a bounding volume to a set of points. More...
class	BVFitter< kIOS >
	Specification of BVFitter for kIOS bounding volume. More...
class	BVFitter< OBB >
	Specification of BVFitter for OBB bounding volume. More...
class	BVFitter< OBBRSS >
	Specification of BVFitter for OBBRSS bounding volume. More...
class	BVFitter< RSS >
	Specification of BVFitter for RSS bounding volume. More...
class	BVFitterBase
	Interface for fitting a bv given the triangles or points inside it. More...
class	BVHCollisionTraversalNode
	Traversal node for collision between BVH models. More...
struct	BVHContinuousCollisionPair
	Traversal node for continuous collision between BVH models. More...
class	BVHDistanceTraversalNode
	Traversal node for distance computation between BVH models. More...
struct	BVHFrontNode
	Front list acceleration for collision Front list is a set of internal and leaf nodes in the BVTT hierarchy, where the traversal terminates while performing a query during a given time instance. More...
class	BVHModel
	A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh) More...
class	BVHShapeCollisionTraversalNode
	Traversal node for collision between BVH and shape. More...
class	BVHShapeDistanceTraversalNode
	Traversal node for distance computation between BVH and shape. More...
class	BVMotionBoundVisitor
	Compute the motion bound for a bounding volume, given the closest direction n between two query objects. More...
struct	BVNode
	A class describing a bounding volume node. It includes the tree structure providing in BVNodeBase and also the geometry data provided in BV template parameter. More...
struct	BVNodeBase
	BVNodeBase encodes the tree structure for BVH. More...
class	BVSplitter
	A class describing the split rule that splits each BV node. More...
class	BVSplitterBase
	Base interface for BV splitting algorithm. More...
class	Capsule
	Center at zero point capsule. More...
struct	CollisionFunctionMatrix
	collision matrix stores the functions for collision between different types of objects and provides a uniform call interface More...
class	CollisionGeometry
	The geometry for the object for collision or distance computation. More...
class	CollisionObject
	the object for collision or distance computation, contains the geometry and the transform information More...
struct	CollisionRequest
	request to the collision algorithm More...
struct	CollisionResult
	collision result More...
class	CollisionTraversalNodeBase
	Node structure encoding the information required for collision traversal. More...
class	Cone
	Center at zero cone. More...
struct	ConservativeAdvancementFunctionMatrix
struct	ConservativeAdvancementStackData
struct	Contact
	Contact information returned by collision. More...
class	ContinuousCollisionObject
	the object for continuous collision or distance computation, contains the geometry and the motion information More...
struct	ContinuousCollisionRequest
struct	ContinuousCollisionResult
	continuous collision result More...
class	Convex
	Convex polytope. More...
struct	CostSource
	Cost source describes an area with a cost. The area is described by an AABB region. More...
class	Cylinder
	Center at zero cylinder. More...
struct	DistanceFunctionMatrix
	distance matrix stores the functions for distance between different types of objects and provides a uniform call interface More...
struct	DistanceRequest
	request to the distance computation More...
struct	DistanceResult
	distance result More...
class	DistanceTraversalNodeBase
	Node structure encoding the information required for distance traversal. More...
class	DynamicAABBTreeCollisionManager
class	DynamicAABBTreeCollisionManager_Array
class	Exception
struct	GJKSolver_indep
	collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the GJK in bullet) More...
struct	GJKSolver_libccd
	collision and distance solver based on libccd library. More...
class	GreedyKCenters
	An instance of this class can be used to greedily select a given number of representatives from a set of data points that are all far apart from each other. More...
class	Halfspace
	Half Space: this is equivalent to the Plane in ODE. More...
class	HierarchyTree
	Class for hierarchy tree structure. More...
struct	IMatrix3
class	InterpMotion
	Linear interpolation motion Each Motion is assumed to have constant linear velocity and angular velocity The motion is R(t)(p - p_ref) + p_ref + T(t) Therefore, R(0) = R0, R(1) = R1 T(0) = T0 + R0 p_ref - p_ref T(1) = T1 + R1 p_ref - p_ref. More...
class	Interpolation
class	InterpolationFactory
class	InterpolationLinear
class	Intersect
	CCD intersect kernel among primitives. More...
struct	Interval
	Interval class for [a, b]. More...
class	IntervalTree
	Interval tree. More...
class	IntervalTreeCollisionManager
	Collision manager based on interval tree. More...
class	IntervalTreeNode
	The node for interval tree. More...
struct	Item
struct	IVector3
class	Joint
	Base Joint. More...
class	JointConfig
class	KDOP
	KDOP class describes the KDOP collision structures. More...
class	kIOS
	A class describing the kIOS collision structure, which is a set of spheres. More...
class	Link
class	Matrix3fX
	Matrix2 class wrapper. the core data is in the template parameter class. More...
class	MeshCollisionTraversalNode
	Traversal node for collision between two meshes. More...
class	MeshCollisionTraversalNodekIOS
class	MeshCollisionTraversalNodeOBB
	Traversal node for collision between two meshes if their underlying BVH node is oriented node (OBB, RSS, OBBRSS, kIOS) More...
class	MeshCollisionTraversalNodeOBBRSS
class	MeshCollisionTraversalNodeRSS
class	MeshConservativeAdvancementTraversalNode
	continuous collision node using conservative advancement. when using this default version, must refit the BVH in current configuration (R_t, T_t) into default configuration More...
class	MeshConservativeAdvancementTraversalNodeOBBRSS
class	MeshConservativeAdvancementTraversalNodeRSS
class	MeshContinuousCollisionTraversalNode
	Traversal node for continuous collision between meshes. More...
class	MeshDistanceTraversalNode
	Traversal node for distance computation between two meshes. More...
class	MeshDistanceTraversalNodekIOS
class	MeshDistanceTraversalNodeOBBRSS
class	MeshDistanceTraversalNodeRSS
	Traversal node for distance computation between two meshes if their underlying BVH node is oriented node (RSS, OBBRSS, kIOS) More...
class	MeshOcTreeCollisionTraversalNode
	Traversal node for mesh-octree collision. More...
class	MeshOcTreeDistanceTraversalNode
	Traversal node for mesh-octree distance. More...
class	MeshShapeCollisionTraversalNode
	Traversal node for collision between mesh and shape. More...
class	MeshShapeCollisionTraversalNodekIOS
class	MeshShapeCollisionTraversalNodeOBB
	Traversal node for mesh and shape, when mesh BVH is one of the oriented node (OBB, RSS, OBBRSS, kIOS) More...
class	MeshShapeCollisionTraversalNodeOBBRSS
class	MeshShapeCollisionTraversalNodeRSS
class	MeshShapeConservativeAdvancementTraversalNode
	Traversal node for conservative advancement computation between BVH and shape. More...
class	MeshShapeConservativeAdvancementTraversalNodeOBBRSS
class	MeshShapeConservativeAdvancementTraversalNodeRSS
class	MeshShapeDistanceTraversalNode
	Traversal node for distance between mesh and shape. More...
class	MeshShapeDistanceTraversalNodekIOS
class	MeshShapeDistanceTraversalNodeOBBRSS
class	MeshShapeDistanceTraversalNodeRSS
	Traversal node for distance between mesh and shape, when mesh BVH is one of the oriented node (RSS, OBBRSS, kIOS) More...
class	Model
class	ModelConfig
class	ModelParseError
struct	morton_functor
	Functor to compute the morton code for a given AABB. More...
struct	morton_functor< boost::dynamic_bitset<> >
	Functor to compute n bit morton code for a given AABB. More...
struct	morton_functor< FCL_UINT32 >
	Functor to compute 30 bit morton code for a given AABB. More...
struct	morton_functor< FCL_UINT64 >
	Functor to compute 60 bit morton code for a given AABB. More...
class	MotionBase
class	NaiveCollisionManager
	Brute force N-body collision manager. More...
class	NearestNeighbors
	Abstract representation of a container that can perform nearest neighbors queries. More...
class	NearestNeighborsGNAT
	Geometric Near-neighbor Access Tree (GNAT), a data structure for nearest neighbor search. More...
class	NearestNeighborsLinear
	A nearest neighbors datastructure that uses linear search. More...
class	NearestNeighborsSqrtApprox
	A nearest neighbors datastructure that uses linear search. More...
struct	NodeBase
	dynamic AABB tree node More...
class	OBB
	Oriented bounding box class. More...
class	OBBRSS
	Class merging the OBB and RSS, can handle collision and distance simultaneously. More...
class	OcTree
	Octree is one type of collision geometry which can encode uncertainty information in the sensor data. More...
class	OcTreeCollisionTraversalNode
	Traversal node for octree collision. More...
class	OcTreeDistanceTraversalNode
	Traversal node for octree distance. More...
class	OcTreeMeshCollisionTraversalNode
	Traversal node for octree-mesh collision. More...
class	OcTreeMeshDistanceTraversalNode
	Traversal node for octree-mesh distance. More...
class	OcTreeShapeCollisionTraversalNode
	Traversal node for octree-shape collision. More...
class	OcTreeShapeDistanceTraversalNode
	Traversal node for octree-shape distance. More...
class	OcTreeSolver
	Algorithms for collision related with octree. More...
struct	PenetrationDepthRequest
struct	PenetrationDepthResult
class	Plane
	Infinite plane. More...
class	PolySolver
	A class solves polynomial degree (1,2,3) equations. More...
struct	PredictResult
class	PrismaticJoint
class	Project
	Project functions. More...
class	Quaternion3f
	Quaternion used locally by InterpMotion. More...
class	RevoluteJoint
class	RNG
	Random number generation. More...
class	RSS
	A class for rectangle sphere-swept bounding volume. More...
class	SamplerBase
class	SamplerR
class	SamplerSE2
class	SamplerSE2_disk
class	SamplerSE3Euler
class	SamplerSE3Euler_ball
class	SamplerSE3Quat
class	SamplerSE3Quat_ball
class	SaPCollisionManager
	Rigorous SAP collision manager. More...
struct	Scaler
class	ScrewMotion
class	ShapeBase
	Base class for all basic geometric shapes. More...
class	ShapeBVHCollisionTraversalNode
	Traversal node for collision between shape and BVH. More...
class	ShapeBVHDistanceTraversalNode
	Traversal node for distance computation between shape and BVH. More...
class	ShapeCollisionTraversalNode
	Traversal node for collision between two shapes. More...
class	ShapeConservativeAdvancementTraversalNode
class	ShapeDistanceTraversalNode
	Traversal node for distance between two shapes. More...
class	ShapeMeshCollisionTraversalNode
	Traversal node for collision between shape and mesh. More...
class	ShapeMeshCollisionTraversalNodekIOS
class	ShapeMeshCollisionTraversalNodeOBB
	Traversal node for shape and mesh, when mesh BVH is one of the oriented node (OBB, RSS, OBBRSS, kIOS) More...
class	ShapeMeshCollisionTraversalNodeOBBRSS
class	ShapeMeshCollisionTraversalNodeRSS
class	ShapeMeshConservativeAdvancementTraversalNode
class	ShapeMeshConservativeAdvancementTraversalNodeOBBRSS
class	ShapeMeshConservativeAdvancementTraversalNodeRSS
class	ShapeMeshDistanceTraversalNode
	Traversal node for distance between shape and mesh. More...
class	ShapeMeshDistanceTraversalNodekIOS
class	ShapeMeshDistanceTraversalNodeOBBRSS
class	ShapeMeshDistanceTraversalNodeRSS
class	ShapeOcTreeCollisionTraversalNode
	Traversal node for shape-octree collision. More...
class	ShapeOcTreeDistanceTraversalNode
	Traversal node for shape-octree distance. More...
class	SimpleHashTable
	A simple hash table implemented as multiple buckets. HashFnc is any extended hash function: HashFnc(key) = {index1, index2, ..., }. More...
struct	SimpleInterval
	Interval trees implemented using red-black-trees as described in the book Introduction_To_Algorithms_ by Cormen, Leisserson, and Rivest. More...
class	SparseHashTable
	A hash table implemented using unordered_map. More...
struct	SpatialHash
	Spatial hash function: hash an AABB to a set of integer values. More...
class	SpatialHashingCollisionManager
	spatial hashing collision mananger More...
class	Sphere
	Center at zero point sphere. More...
class	SplineMotion
class	SSaPCollisionManager
	Simple SAP collision manager. More...
class	SVMClassifier
class	TaylorModel
	TaylorModel implements a third order Taylor model, i.e., a cubic approximation of a function over a time interval, with an interval remainder. More...
class	TBVMotionBoundVisitor
struct	TimeInterval
class	TMatrix3
class	Transform3f
	Simple transform class used locally by InterpMotion. More...
class	TranslationMotion
class	TraversalNodeBase
	Node structure encoding the information required for traversal. More...
class	Triangle
	Triangle with 3 indices for points. More...
class	TriangleDistance
	Triangle distance functions. More...
class	TriangleMotionBoundVisitor
class	TriangleP
	Triangle stores the points instead of only indices of points. More...
class	TVector3
class	unordered_map_hash_table
class	Variance3f
	Class for variance matrix in 3d. More...
class	Vec3fX
	Vector3 class wrapper. The core data is in the template parameter class. More...
class	Vec_n
class	Vecnf

Typedefs
typedef bool(*	CollisionCallBack )(CollisionObject *o1, CollisionObject *o2, void *cdata)
	Callback for collision between two objects. Return value is whether can stop now. More...
typedef bool(*	DistanceCallBack )(CollisionObject *o1, CollisionObject *o2, void *cdata, FCL_REAL &dist)
	Callback for distance between two objects, Return value is whether can stop now, also return the minimum distance till now. More...
typedef bool(*	ContinuousCollisionCallBack )(ContinuousCollisionObject *o1, ContinuousCollisionObject *o2, void *cdata)
	Callback for continuous collision between two objects. Return value is whether can stop now. More...
typedef bool(*	ContinuousDistanceCallBack )(ContinuousCollisionObject *o1, ContinuousCollisionObject *o2, void *cdata, FCL_REAL &dist)
	Callback for continuous distance between two objects, Return value is whether can stop now, also return the minimum distance till now. More...
typedef std::list< BVHFrontNode >	BVHFrontList
	BVH front list is a list of front nodes. More...
typedef boost::shared_ptr < MotionBase >	MotionBasePtr
typedef double	FCL_REAL
typedef boost::uint64_t	FCL_INT64
typedef boost::int64_t	FCL_UINT64
typedef boost::uint32_t	FCL_UINT32
typedef boost::int32_t	FCL_INT32
typedef boost::shared_ptr < CollisionObject >	CollisionObjectPtr_t
typedef boost::shared_ptr < const CollisionObject >	CollisionObjectConstPtr_t
typedef boost::shared_ptr < CollisionGeometry >	CollisionGeometryPtr_t
typedef boost::shared_ptr < const CollisionGeometry >	CollisionGeometryConstPtr_t
typedef Matrix3fX < details::Matrix3Data < FCL_REAL > >	Matrix3f
typedef Vec3fX < details::Vec3Data< FCL_REAL > >	Vec3f

Enumerations
enum	JointType {   JT_UNKNOWN,   JT_PRISMATIC,   JT_REVOLUTE,   JT_BALLEULER }
enum	SplitMethodType {   SPLIT_METHOD_MEAN,   SPLIT_METHOD_MEDIAN,   SPLIT_METHOD_BV_CENTER }
	Three types of split algorithms are provided in FCL as default. More...
enum	BVHBuildState {   BVH_BUILD_STATE_EMPTY,   BVH_BUILD_STATE_BEGUN,   BVH_BUILD_STATE_PROCESSED,   BVH_BUILD_STATE_UPDATE_BEGUN,   BVH_BUILD_STATE_UPDATED,   BVH_BUILD_STATE_REPLACE_BEGUN }
	States for BVH construction empty->begun->processed ->replace_begun->processed -> ...... More...
enum	BVHReturnCode {   BVH_OK = 0,   BVH_ERR_MODEL_OUT_OF_MEMORY = -1,   BVH_ERR_BUILD_OUT_OF_SEQUENCE = -2,   BVH_ERR_BUILD_EMPTY_MODEL = -3,   BVH_ERR_BUILD_EMPTY_PREVIOUS_FRAME = -4,   BVH_ERR_UNSUPPORTED_FUNCTION = -5,   BVH_ERR_UNUPDATED_MODEL = -6,   BVH_ERR_INCORRECT_DATA = -7,   BVH_ERR_UNKNOWN = -8 }
	Error code for BVH. More...
enum	BVHModelType {   BVH_MODEL_UNKNOWN,   BVH_MODEL_TRIANGLES,   BVH_MODEL_POINTCLOUD }
	BVH model type. More...
enum	InterpolationType {   LINEAR,   STANDARD }
enum	GJKSolverType {   GST_LIBCCD,   GST_INDEP }
	Type of narrow phase GJK solver. More...
enum	CCDMotionType {   CCDM_TRANS,   CCDM_LINEAR,   CCDM_SCREW,   CCDM_SPLINE }
enum	CCDSolverType {   CCDC_NAIVE,   CCDC_CONSERVATIVE_ADVANCEMENT,   CCDC_RAY_SHOOTING,   CCDC_POLYNOMIAL_SOLVER }
enum	PenetrationDepthType {   PDT_TRANSLATIONAL,   PDT_GENERAL_EULER,   PDT_GENERAL_QUAT,   PDT_GENERAL_EULER_BALL,   PDT_GENERAL_QUAT_BALL }
enum	KNNSolverType {   KNN_LINEAR,   KNN_GNAT,   KNN_SQRTAPPROX }
enum	OBJECT_TYPE {   OT_UNKNOWN,   OT_BVH,   OT_GEOM,   OT_OCTREE,   OT_COUNT }
	object type: BVH (mesh, points), basic geometry, octree More...
enum	NODE_TYPE {   BV_UNKNOWN,   BV_AABB,   BV_OBB,   BV_RSS,   BV_kIOS,   BV_OBBRSS,   BV_KDOP16,   BV_KDOP18,   BV_KDOP24,   GEOM_BOX,   GEOM_SPHERE,   GEOM_CAPSULE,   GEOM_CONE,   GEOM_CYLINDER,   GEOM_CONVEX,   GEOM_PLANE,   GEOM_HALFSPACE,   GEOM_TRIANGLE,   GEOM_OCTREE,   NODE_COUNT }
	traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS, KDOP16, KDOP18, kDOP24), basic shape (box, sphere, capsule, cone, cylinder, convex, plane, triangle), and octree More...

Functions
template<typename BV >
bool	nodeBaseLess (NodeBase< BV > *a, NodeBase< BV > *b, int d)
	Compare two nodes accoording to the d-th dimension of node center. More...
template<typename BV >
size_t	select (const NodeBase< BV > &query, const NodeBase< BV > &node1, const NodeBase< BV > &node2)
	select from node1 and node2 which is close to a given query. 0 for node1 and 1 for node2 More...
template<>
size_t	select (const NodeBase< AABB > &node, const NodeBase< AABB > &node1, const NodeBase< AABB > &node2)
template<typename BV >
size_t	select (const BV &query, const NodeBase< BV > &node1, const NodeBase< BV > &node2)
	select from node1 and node2 which is close to a given query bounding volume. 0 for node1 and 1 for node2 More...
template<>
size_t	select (const AABB &query, const NodeBase< AABB > &node1, const NodeBase< AABB > &node2)
static AABB	translate (const AABB &aabb, const Vec3f &t)
	translate the center of AABB by t More...
template<typename BV1 , typename BV2 >
static void	convertBV (const BV1 &bv1, const Transform3f &tf1, BV2 &bv2)
	Convert a bounding volume of type BV1 in configuration tf1 to bounding volume of type BV2 in identity configuration. More...
template<size_t N>
KDOP< N >	translate (const KDOP< N > &bv, const Vec3f &t)
	translate the KDOP BV More...
kIOS	translate (const kIOS &bv, const Vec3f &t)
	Translate the kIOS BV. More...
bool	overlap (const Matrix3f &R0, const Vec3f &T0, const kIOS &b1, const kIOS &b2)
	Check collision between two kIOSs, b1 is in configuration (R0, T0) and b2 is in identity. More...
FCL_REAL	distance (const Matrix3f &R0, const Vec3f &T0, const kIOS &b1, const kIOS &b2, Vec3f *P=NULL, Vec3f *Q=NULL)
	Approximate distance between two kIOS bounding volumes. More...
OBB	translate (const OBB &bv, const Vec3f &t)
	Translate the OBB bv. More...
bool	overlap (const Matrix3f &R0, const Vec3f &T0, const OBB &b1, const OBB &b2)
	Check collision between two obbs, b1 is in configuration (R0, T0) and b2 is in identity. More...
bool	overlap (const Matrix3f &R0, const Vec3f &T0, const OBB &b1, const OBB &b2, FCL_REAL &sqrDistLowerBound)
	Check collision between two obbs, b1 is in configuration (R0, T0) and b2 is in identity. More...
bool	obbDisjoint (const Matrix3f &B, const Vec3f &T, const Vec3f &a, const Vec3f &b)
	Check collision between two boxes. More...
OBBRSS	translate (const OBBRSS &bv, const Vec3f &t)
	Translate the OBBRSS bv. More...
bool	overlap (const Matrix3f &R0, const Vec3f &T0, const OBBRSS &b1, const OBBRSS &b2)
	Check collision between two OBBRSS, b1 is in configuration (R0, T0) and b2 is in indentity. More...
bool	overlap (const Matrix3f &R0, const Vec3f &T0, const OBBRSS &b1, const OBBRSS &b2, FCL_REAL &sqrDistLowerBound)
	Check collision between two OBBRSS. More...
FCL_REAL	distance (const Matrix3f &R0, const Vec3f &T0, const OBBRSS &b1, const OBBRSS &b2, Vec3f *P=NULL, Vec3f *Q=NULL)
	Computate distance between two OBBRSS, b1 is in configuation (R0, T0) and b2 is in indentity; P and Q, is not NULL, returns the nearest points. More...
RSS	translate (const RSS &bv, const Vec3f &t)
	Translate the RSS bv. More...
FCL_REAL	distance (const Matrix3f &R0, const Vec3f &T0, const RSS &b1, const RSS &b2, Vec3f *P=NULL, Vec3f *Q=NULL)
	distance between two RSS bounding volumes P and Q (optional return values) are the closest points in the rectangles, not the RSS. More...
bool	overlap (const Matrix3f &R0, const Vec3f &T0, const RSS &b1, const RSS &b2)
	Check collision between two RSSs, b1 is in configuration (R0, T0) and b2 is in identity. More...
template<typename BV >
void	fit (Vec3f *ps, int n, BV &bv)
	Compute a bounding volume that fits a set of n points. More...
template<>
void	fit< OBB > (Vec3f *ps, int n, OBB &bv)
template<>
void	fit< RSS > (Vec3f *ps, int n, RSS &bv)
template<>
void	fit< kIOS > (Vec3f *ps, int n, kIOS &bv)
template<>
void	fit< OBBRSS > (Vec3f *ps, int n, OBBRSS &bv)
void	updateFrontList (BVHFrontList *front_list, int b1, int b2)
	Add new front node into the front list. More...
template<typename BV >
void	BVHExpand (BVHModel< BV > &model, const Variance3f *ucs, FCL_REAL r)
	Expand the BVH bounding boxes according to the variance matrix corresponding to the data stored within each BV node. More...
void	BVHExpand (BVHModel< OBB > &model, const Variance3f *ucs, FCL_REAL r)
	Expand the BVH bounding boxes according to the corresponding variance information, for OBB. More...
void	BVHExpand (BVHModel< RSS > &model, const Variance3f *ucs, FCL_REAL r)
	Expand the BVH bounding boxes according to the corresponding variance information, for RSS. More...
void	getCovariance (Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, int n, Matrix3f &M)
	Compute the covariance matrix for a set or subset of points. if ts = null, then indices refer to points directly; otherwise refer to triangles. More...
void	getRadiusAndOriginAndRectangleSize (Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, int n, Vec3f axis[3], Vec3f &origin, FCL_REAL l[2], FCL_REAL &r)
	Compute the RSS bounding volume parameters: radius, rectangle size and the origin, given the BV axises. More...
void	getExtentAndCenter (Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, int n, Vec3f axis[3], Vec3f &center, Vec3f &extent)
	Compute the bounding volume extent and center for a set or subset of points, given the BV axises. More...
void	circumCircleComputation (const Vec3f &a, const Vec3f &b, const Vec3f &c, Vec3f &center, FCL_REAL &radius)
	Compute the center and radius for a triangle's circumcircle. More...
FCL_REAL	maximumDistance (Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, int n, const Vec3f &query)
	Compute the maximum distance from a given center point to a point cloud. More...
Interval	bound (const Interval &i, FCL_REAL v)
Interval	bound (const Interval &i, const Interval &other)
IMatrix3	rotationConstrain (const IMatrix3 &m)
IVector3	bound (const IVector3 &i, const Vec3f &v)
IVector3	bound (const IVector3 &i, const IVector3 &v)
TMatrix3	rotationConstrain (const TMatrix3 &m)
TMatrix3	operator* (const Matrix3f &m, const TaylorModel &a)
TMatrix3	operator* (const TaylorModel &a, const Matrix3f &m)
TMatrix3	operator* (const TaylorModel &a, const TMatrix3 &m)
TMatrix3	operator* (FCL_REAL d, const TMatrix3 &m)
TMatrix3	operator+ (const Matrix3f &m1, const TMatrix3 &m2)
TMatrix3	operator- (const Matrix3f &m1, const TMatrix3 &m2)
TaylorModel	operator* (FCL_REAL d, const TaylorModel &a)
TaylorModel	operator+ (FCL_REAL d, const TaylorModel &a)
TaylorModel	operator- (FCL_REAL d, const TaylorModel &a)
void	generateTaylorModelForCosFunc (TaylorModel &tm, FCL_REAL w, FCL_REAL q0)
	Generate Taylor model for cos(w t + q0) More...
void	generateTaylorModelForSinFunc (TaylorModel &tm, FCL_REAL w, FCL_REAL q0)
	Generate Taylor model for sin(w t + q0) More...
void	generateTaylorModelForLinearFunc (TaylorModel &tm, FCL_REAL p, FCL_REAL v)
	Generate Taylor model for p + v t. More...
void	generateTVector3ForLinearFunc (TVector3 &v, const Vec3f &position, const Vec3f &velocity)
TVector3	operator* (const Vec3f &v, const TaylorModel &a)
TVector3	operator+ (const Vec3f &v1, const TVector3 &v2)
TVector3	operator- (const Vec3f &v1, const TVector3 &v2)
std::size_t	collide (const CollisionObject *o1, const CollisionObject *o2, const CollisionRequest &request, CollisionResult &result)
	Main collision interface: given two collision objects, and the requirements for contacts, including num of max contacts, whether perform exhaustive collision (i.e., returning returning all the contact points), whether return detailed contact information (i.e., normal, contact point, depth; otherwise only contact primitive id is returned), this function performs the collision between them. More...
std::size_t	collide (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const CollisionRequest &request, CollisionResult &result)
void	collide (CollisionTraversalNodeBase *node, FCL_REAL &sqrDistLowerBound, BVHFrontList *front_list=NULL)
	collision on collision traversal node More...
void	selfCollide (CollisionTraversalNodeBase *node, BVHFrontList *front_list=NULL)
	self collision on collision traversal node; can use front list to accelerate More...
void	distance (DistanceTraversalNodeBase *node, BVHFrontList *front_list=NULL, int qsize=2)
	distance computation on distance traversal node; can use front list to accelerate More...
void	collide2 (MeshCollisionTraversalNodeOBB *node, BVHFrontList *front_list=NULL)
	special collision on OBB traversal node More...
void	collide2 (MeshCollisionTraversalNodeRSS *node, BVHFrontList *front_list=NULL)
	special collision on RSS traversal node More...
FCL_REAL	continuousCollide (const CollisionGeometry *o1, const Transform3f &tf1_beg, const Transform3f &tf1_end, const CollisionGeometry *o2, const Transform3f &tf2_beg, const Transform3f &tf2_end, const ContinuousCollisionRequest &request, ContinuousCollisionResult &result)
	continous collision checking between two objects More...
FCL_REAL	continuousCollide (const CollisionObject *o1, const Transform3f &tf1_end, const CollisionObject *o2, const Transform3f &tf2_end, const ContinuousCollisionRequest &request, ContinuousCollisionResult &result)
FCL_REAL	collide (const ContinuousCollisionObject *o1, const ContinuousCollisionObject *o2, const ContinuousCollisionRequest &request, ContinuousCollisionResult &result)
FCL_REAL	distance (const CollisionObject *o1, const CollisionObject *o2, const DistanceRequest &request, DistanceResult &result)
	Main distance interface: given two collision objects, and the requirements for contacts, including whether return the nearest points, this function performs the distance between them. More...
FCL_REAL	distance (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const DistanceRequest &request, DistanceResult &result)
template<std::size_t N>
Scaler< N >	computeScaler (const std::vector< Item< N > > &data)
template<std::size_t N>
Scaler< N >	computeScaler (const std::vector< Vecnf< N > > &data)
template<typename T >
void	hat (Matrix3fX< T > &mat, const Vec3fX< typename T::vector_type > &vec)
template<typename T >
void	relativeTransform (const Matrix3fX< T > &R1, const Vec3fX< typename T::vector_type > &t1, const Matrix3fX< T > &R2, const Vec3fX< typename T::vector_type > &t2, Matrix3fX< T > &R, Vec3fX< typename T::vector_type > &t)
template<typename T >
void	eigen (const Matrix3fX< T > &m, typename T::meta_type dout[3], Vec3fX< typename T::vector_type > vout[3])
	compute the eigen vector and eigen vector of a matrix. dout is the eigen values, vout is the eigen vectors More...
template<typename T >
Matrix3fX< T >	abs (const Matrix3fX< T > &R)
template<typename T >
Matrix3fX< T >	transpose (const Matrix3fX< T > &R)
template<typename T >
Matrix3fX< T >	inverse (const Matrix3fX< T > &R)
template<typename T >
T::meta_type	quadraticForm (const Matrix3fX< T > &R, const Vec3fX< typename T::vector_type > &v)
static std::ostream &	operator<< (std::ostream &o, const Matrix3f &m)
Quaternion3f	conj (const Quaternion3f &q)
	conjugate of quaternion More...
Quaternion3f	inverse (const Quaternion3f &q)
	inverse of quaternion More...
Transform3f	inverse (const Transform3f &tf)
	inverse the transform More...
void	relativeTransform (const Transform3f &tf1, const Transform3f &tf2, Transform3f &tf)
	compute the relative transform between two transforms: tf2 = tf1 * tf (relative to the local coordinate system in tf1) More...
void	relativeTransform2 (const Transform3f &tf1, const Transform3f &tf2, Transform3f &tf)
	compute the relative transform between two transforms: tf2 = tf * tf1 (relative to the global coordinate system) More...
template<typename T >
static Vec3fX< T >	normalize (const Vec3fX< T > &v)
template<typename T >
static T::meta_type	triple (const Vec3fX< T > &x, const Vec3fX< T > &y, const Vec3fX< T > &z)
template<typename T >
std::ostream &	operator<< (std::ostream &out, const Vec3fX< T > &x)
template<typename T >
static Vec3fX< T >	min (const Vec3fX< T > &x, const Vec3fX< T > &y)
template<typename T >
static Vec3fX< T >	max (const Vec3fX< T > &x, const Vec3fX< T > &y)
template<typename T >
static Vec3fX< T >	abs (const Vec3fX< T > &x)
template<typename T >
void	generateCoordinateSystem (const Vec3fX< T > &w, Vec3fX< T > &u, Vec3fX< T > &v)
static std::ostream &	operator<< (std::ostream &o, const Vec3f &v)
template<typename T >
Vec3fX< T >	operator* (const typename Vec3fX< T >::U &t, const Vec3fX< T > &v)
template<typename T1 , std::size_t N1, typename T2 , std::size_t N2>
void	repack (const Vec_n< T1, N1 > &input, Vec_n< T2, N2 > &output)
template<typename T , std::size_t N>
Vec_n< T, N >	operator* (T t, const Vec_n< T, N > &v)
template<typename T , std::size_t N, std::size_t M>
Vec_n< T, M+N >	combine (const Vec_n< T, N > &v1, const Vec_n< T, M > &v2)
template<typename T , std::size_t N>
std::ostream &	operator<< (std::ostream &o, const Vec_n< T, N > &v)
static void	computeChildBV (const AABB &root_bv, unsigned int i, AABB &child_bv)
	compute the bounding volume of an octree node's i-th child More...
template<typename BV >
void	generateBVHModel (BVHModel< BV > &model, const Box &shape, const Transform3f &pose)
	Generate BVH model from box. More...
template<typename BV >
void	generateBVHModel (BVHModel< BV > &model, const Sphere &shape, const Transform3f &pose, unsigned int seg, unsigned int ring)
	Generate BVH model from sphere, given the number of segments along longitude and number of rings along latitude. More...
template<typename BV >
void	generateBVHModel (BVHModel< BV > &model, const Sphere &shape, const Transform3f &pose, unsigned int n_faces_for_unit_sphere)
	Generate BVH model from sphere The difference between generateBVHModel is that it gives the number of triangles faces N for a sphere with unit radius. More...
template<typename BV >
void	generateBVHModel (BVHModel< BV > &model, const Cylinder &shape, const Transform3f &pose, unsigned int tot, unsigned int h_num)
	Generate BVH model from cylinder, given the number of segments along circle and the number of segments along axis. More...
template<typename BV >
void	generateBVHModel (BVHModel< BV > &model, const Cylinder &shape, const Transform3f &pose, unsigned int tot_for_unit_cylinder)
	Generate BVH model from cylinder Difference from generateBVHModel: is that it gives the circle split number tot for a cylinder with unit radius. More...
template<typename BV >
void	generateBVHModel (BVHModel< BV > &model, const Cone &shape, const Transform3f &pose, unsigned int tot, unsigned int h_num)
	Generate BVH model from cone, given the number of segments along circle and the number of segments along axis. More...
template<typename BV >
void	generateBVHModel (BVHModel< BV > &model, const Cone &shape, const Transform3f &pose, unsigned int tot_for_unit_cone)
	Generate BVH model from cone Difference from generateBVHModel: is that it gives the circle split number tot for a cylinder with unit radius. More...
template<typename BV , typename S >
void	computeBV (const S &s, const Transform3f &tf, BV &bv)
	calculate a bounding volume for a shape in a specific configuration More...
template<>
void	computeBV< AABB, Box > (const Box &s, const Transform3f &tf, AABB &bv)
template<>
void	computeBV< AABB, Sphere > (const Sphere &s, const Transform3f &tf, AABB &bv)
template<>
void	computeBV< AABB, Capsule > (const Capsule &s, const Transform3f &tf, AABB &bv)
template<>
void	computeBV< AABB, Cone > (const Cone &s, const Transform3f &tf, AABB &bv)
template<>
void	computeBV< AABB, Cylinder > (const Cylinder &s, const Transform3f &tf, AABB &bv)
template<>
void	computeBV< AABB, Convex > (const Convex &s, const Transform3f &tf, AABB &bv)
template<>
void	computeBV< AABB, TriangleP > (const TriangleP &s, const Transform3f &tf, AABB &bv)
template<>
void	computeBV< AABB, Halfspace > (const Halfspace &s, const Transform3f &tf, AABB &bv)
template<>
void	computeBV< AABB, Plane > (const Plane &s, const Transform3f &tf, AABB &bv)
template<>
void	computeBV< OBB, Box > (const Box &s, const Transform3f &tf, OBB &bv)
template<>
void	computeBV< OBB, Sphere > (const Sphere &s, const Transform3f &tf, OBB &bv)
template<>
void	computeBV< OBB, Capsule > (const Capsule &s, const Transform3f &tf, OBB &bv)
template<>
void	computeBV< OBB, Cone > (const Cone &s, const Transform3f &tf, OBB &bv)
template<>
void	computeBV< OBB, Cylinder > (const Cylinder &s, const Transform3f &tf, OBB &bv)
template<>
void	computeBV< OBB, Convex > (const Convex &s, const Transform3f &tf, OBB &bv)
template<>
void	computeBV< OBB, Halfspace > (const Halfspace &s, const Transform3f &tf, OBB &bv)
template<>
void	computeBV< OBB, Plane > (const Plane &s, const Transform3f &tf, OBB &bv)
template<>
void	computeBV< RSS, Plane > (const Plane &s, const Transform3f &tf, RSS &bv)
template<>
void	computeBV< OBBRSS, Plane > (const Plane &s, const Transform3f &tf, OBBRSS &bv)
template<>
void	computeBV< kIOS, Plane > (const Plane &s, const Transform3f &tf, kIOS &bv)
template<>
void	computeBV< KDOP< 16 >, Plane > (const Plane &s, const Transform3f &tf, KDOP< 16 > &bv)
template<>
void	computeBV< KDOP< 18 >, Plane > (const Plane &s, const Transform3f &tf, KDOP< 18 > &bv)
template<>
void	computeBV< KDOP< 24 >, Plane > (const Plane &s, const Transform3f &tf, KDOP< 24 > &bv)
void	constructBox (const AABB &bv, Box &box, Transform3f &tf)
	construct a box shape (with a configuration) from a given bounding volume More...
void	constructBox (const OBB &bv, Box &box, Transform3f &tf)
void	constructBox (const OBBRSS &bv, Box &box, Transform3f &tf)
void	constructBox (const kIOS &bv, Box &box, Transform3f &tf)
void	constructBox (const RSS &bv, Box &box, Transform3f &tf)
void	constructBox (const KDOP< 16 > &bv, Box &box, Transform3f &tf)
void	constructBox (const KDOP< 18 > &bv, Box &box, Transform3f &tf)
void	constructBox (const KDOP< 24 > &bv, Box &box, Transform3f &tf)
void	constructBox (const AABB &bv, const Transform3f &tf_bv, Box &box, Transform3f &tf)
void	constructBox (const OBB &bv, const Transform3f &tf_bv, Box &box, Transform3f &tf)
void	constructBox (const OBBRSS &bv, const Transform3f &tf_bv, Box &box, Transform3f &tf)
void	constructBox (const kIOS &bv, const Transform3f &tf_bv, Box &box, Transform3f &tf)
void	constructBox (const RSS &bv, const Transform3f &tf_bv, Box &box, Transform3f &tf)
void	constructBox (const KDOP< 16 > &bv, const Transform3f &tf_bv, Box &box, Transform3f &tf)
void	constructBox (const KDOP< 18 > &bv, const Transform3f &tf_bv, Box &box, Transform3f &tf)
void	constructBox (const KDOP< 24 > &bv, const Transform3f &tf_bv, Box &box, Transform3f &tf)
Halfspace	transform (const Halfspace &a, const Transform3f &tf)
Plane	transform (const Plane &a, const Transform3f &tf)
static __m128	sse_four_spheres_intersect (const Vec3f &o1, FCL_REAL r1, const Vec3f &o2, FCL_REAL r2, const Vec3f &o3, FCL_REAL r3, const Vec3f &o4, FCL_REAL r4, const Vec3f &o5, FCL_REAL r5, const Vec3f &o6, FCL_REAL r6, const Vec3f &o7, FCL_REAL r7, const Vec3f &o8, FCL_REAL r8)
static __m128	sse_four_spheres_four_AABBs_intersect (const Vec3f &o1, FCL_REAL r1, const Vec3f &o2, FCL_REAL r2, const Vec3f &o3, FCL_REAL r3, const Vec3f &o4, FCL_REAL r4, const Vec3f &min1, const Vec3f &max1, const Vec3f &min2, const Vec3f &max2, const Vec3f &min3, const Vec3f &max3, const Vec3f &min4, const Vec3f &max4)
static __m128	sse_four_AABBs_intersect (const Vec3f &min1, const Vec3f &max1, const Vec3f &min2, const Vec3f &max2, const Vec3f &min3, const Vec3f &max3, const Vec3f &min4, const Vec3f &max4, const Vec3f &min5, const Vec3f &max5, const Vec3f &min6, const Vec3f &max6, const Vec3f &min7, const Vec3f &max7, const Vec3f &min8, const Vec3f &max8)
static bool	four_spheres_intersect_and (const Vec3f &o1, FCL_REAL r1, const Vec3f &o2, FCL_REAL r2, const Vec3f &o3, FCL_REAL r3, const Vec3f &o4, FCL_REAL r4, const Vec3f &o5, FCL_REAL r5, const Vec3f &o6, FCL_REAL r6, const Vec3f &o7, FCL_REAL r7, const Vec3f &o8, FCL_REAL r8)
static bool	four_spheres_intersect_or (const Vec3f &o1, FCL_REAL r1, const Vec3f &o2, FCL_REAL r2, const Vec3f &o3, FCL_REAL r3, const Vec3f &o4, FCL_REAL r4, const Vec3f &o5, FCL_REAL r5, const Vec3f &o6, FCL_REAL r6, const Vec3f &o7, FCL_REAL r7, const Vec3f &o8, FCL_REAL r8)
static bool	four_spheres_four_AABBs_intersect_and (const Vec3f &o1, FCL_REAL r1, const Vec3f &o2, FCL_REAL r2, const Vec3f &o3, FCL_REAL r3, const Vec3f &o4, FCL_REAL r4, const Vec3f &min1, const Vec3f &max1, const Vec3f &min2, const Vec3f &max2, const Vec3f &min3, const Vec3f &max3, const Vec3f &min4, const Vec3f &max4)
	four spheres versus four AABBs SIMD test More...
static bool	four_spheres_four_AABBs_intersect_or (const Vec3f &o1, FCL_REAL r1, const Vec3f &o2, FCL_REAL r2, const Vec3f &o3, FCL_REAL r3, const Vec3f &o4, FCL_REAL r4, const Vec3f &min1, const Vec3f &max1, const Vec3f &min2, const Vec3f &max2, const Vec3f &min3, const Vec3f &max3, const Vec3f &min4, const Vec3f &max4)
static bool	four_AABBs_intersect_and (const Vec3f &min1, const Vec3f &max1, const Vec3f &min2, const Vec3f &max2, const Vec3f &min3, const Vec3f &max3, const Vec3f &min4, const Vec3f &max4, const Vec3f &min5, const Vec3f &max5, const Vec3f &min6, const Vec3f &max6, const Vec3f &min7, const Vec3f &max7, const Vec3f &min8, const Vec3f &max8)
	four AABBs versus four AABBs SIMD test More...
static bool	four_AABBs_intersect_or (const Vec3f &min1, const Vec3f &max1, const Vec3f &min2, const Vec3f &max2, const Vec3f &min3, const Vec3f &max3, const Vec3f &min4, const Vec3f &max4, const Vec3f &min5, const Vec3f &max5, const Vec3f &min6, const Vec3f &max6, const Vec3f &min7, const Vec3f &max7, const Vec3f &min8, const Vec3f &max8)
template<typename S1 , typename S2 , typename NarrowPhaseSolver >
bool	initialize (ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver > &node, const S1 &shape1, const Transform3f &tf1, const S2 &shape2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest &request, CollisionResult &result)
	Initialize traversal node for collision between two geometric shapes, given current object transform. More...
template<typename BV , typename S , typename NarrowPhaseSolver >
bool	initialize (MeshShapeCollisionTraversalNode< BV, S, NarrowPhaseSolver > &node, BVHModel< BV > &model1, Transform3f &tf1, const S &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest &request, CollisionResult &result, bool use_refit=false, bool refit_bottomup=false)
	Initialize traversal node for collision between one mesh and one shape, given current object transform. More...
template<typename S , typename BV , typename NarrowPhaseSolver >
bool	initialize (ShapeMeshCollisionTraversalNode< S, BV, NarrowPhaseSolver > &node, const S &model1, const Transform3f &tf1, BVHModel< BV > &model2, Transform3f &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest &request, CollisionResult &result, bool use_refit=false, bool refit_bottomup=false)
	Initialize traversal node for collision between one mesh and one shape, given current object transform. More...
template<typename S , typename NarrowPhaseSolver >
bool	initialize (MeshShapeCollisionTraversalNodeOBB< S, NarrowPhaseSolver > &node, const BVHModel< OBB > &model1, const Transform3f &tf1, const S &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest &request, CollisionResult &result)
	Initialize the traversal node for collision between one mesh and one shape, specialized for OBB type. More...
template<typename S , typename NarrowPhaseSolver >
bool	initialize (MeshShapeCollisionTraversalNodeRSS< S, NarrowPhaseSolver > &node, const BVHModel< RSS > &model1, const Transform3f &tf1, const S &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest &request, CollisionResult &result)
	Initialize the traversal node for collision between one mesh and one shape, specialized for RSS type. More...
template<typename S , typename NarrowPhaseSolver >
bool	initialize (MeshShapeCollisionTraversalNodekIOS< S, NarrowPhaseSolver > &node, const BVHModel< kIOS > &model1, const Transform3f &tf1, const S &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest &request, CollisionResult &result)
	Initialize the traversal node for collision between one mesh and one shape, specialized for kIOS type. More...
template<typename S , typename NarrowPhaseSolver >
bool	initialize (MeshShapeCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver > &node, const BVHModel< OBBRSS > &model1, const Transform3f &tf1, const S &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest &request, CollisionResult &result)
	Initialize the traversal node for collision between one mesh and one shape, specialized for OBBRSS type. More...
template<typename S , typename NarrowPhaseSolver >
bool	initialize (ShapeMeshCollisionTraversalNodeOBB< S, NarrowPhaseSolver > &node, const S &model1, const Transform3f &tf1, const BVHModel< OBB > &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest &request, CollisionResult &result)
	Initialize the traversal node for collision between one mesh and one shape, specialized for OBB type. More...
template<typename S , typename NarrowPhaseSolver >
bool	initialize (ShapeMeshCollisionTraversalNodeRSS< S, NarrowPhaseSolver > &node, const S &model1, const Transform3f &tf1, const BVHModel< RSS > &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest &request, CollisionResult &result)
	Initialize the traversal node for collision between one mesh and one shape, specialized for RSS type. More...
template<typename S , typename NarrowPhaseSolver >
bool	initialize (ShapeMeshCollisionTraversalNodekIOS< S, NarrowPhaseSolver > &node, const S &model1, const Transform3f &tf1, const BVHModel< kIOS > &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest &request, CollisionResult &result)
	Initialize the traversal node for collision between one mesh and one shape, specialized for kIOS type. More...
template<typename S , typename NarrowPhaseSolver >
bool	initialize (ShapeMeshCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver > &node, const S &model1, const Transform3f &tf1, const BVHModel< OBBRSS > &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest &request, CollisionResult &result)
	Initialize the traversal node for collision between one mesh and one shape, specialized for OBBRSS type. More...
template<typename BV >
bool	initialize (MeshCollisionTraversalNode< BV > &node, BVHModel< BV > &model1, Transform3f &tf1, BVHModel< BV > &model2, Transform3f &tf2, const CollisionRequest &request, CollisionResult &result, bool use_refit=false, bool refit_bottomup=false)
	Initialize traversal node for collision between two meshes, given the current transforms. More...
bool	initialize (MeshCollisionTraversalNodeOBB &node, const BVHModel< OBB > &model1, const Transform3f &tf1, const BVHModel< OBB > &model2, const Transform3f &tf2, const CollisionRequest &request, CollisionResult &result)
	Initialize traversal node for collision between two meshes, specialized for OBB type. More...
bool	initialize (MeshCollisionTraversalNodeRSS &node, const BVHModel< RSS > &model1, const Transform3f &tf1, const BVHModel< RSS > &model2, const Transform3f &tf2, const CollisionRequest &request, CollisionResult &result)
	Initialize traversal node for collision between two meshes, specialized for RSS type. More...
bool	initialize (MeshCollisionTraversalNodeOBBRSS &node, const BVHModel< OBBRSS > &model1, const Transform3f &tf1, const BVHModel< OBBRSS > &model2, const Transform3f &tf2, const CollisionRequest &request, CollisionResult &result)
	Initialize traversal node for collision between two meshes, specialized for OBBRSS type. More...
bool	initialize (MeshCollisionTraversalNodekIOS &node, const BVHModel< kIOS > &model1, const Transform3f &tf1, const BVHModel< kIOS > &model2, const Transform3f &tf2, const CollisionRequest &request, CollisionResult &result)
	Initialize traversal node for collision between two meshes, specialized for kIOS type. More...
template<typename S1 , typename S2 , typename NarrowPhaseSolver >
bool	initialize (ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver > &node, const S1 &shape1, const Transform3f &tf1, const S2 &shape2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest &request, DistanceResult &result)
	Initialize traversal node for distance between two geometric shapes. More...
template<typename BV >
bool	initialize (MeshDistanceTraversalNode< BV > &node, BVHModel< BV > &model1, Transform3f &tf1, BVHModel< BV > &model2, Transform3f &tf2, const DistanceRequest &request, DistanceResult &result, bool use_refit=false, bool refit_bottomup=false)
	Initialize traversal node for distance computation between two meshes, given the current transforms. More...
bool	initialize (MeshDistanceTraversalNodeRSS &node, const BVHModel< RSS > &model1, const Transform3f &tf1, const BVHModel< RSS > &model2, const Transform3f &tf2, const DistanceRequest &request, DistanceResult &result)
	Initialize traversal node for distance computation between two meshes, specialized for RSS type. More...
bool	initialize (MeshDistanceTraversalNodekIOS &node, const BVHModel< kIOS > &model1, const Transform3f &tf1, const BVHModel< kIOS > &model2, const Transform3f &tf2, const DistanceRequest &request, DistanceResult &result)
	Initialize traversal node for distance computation between two meshes, specialized for kIOS type. More...
bool	initialize (MeshDistanceTraversalNodeOBBRSS &node, const BVHModel< OBBRSS > &model1, const Transform3f &tf1, const BVHModel< OBBRSS > &model2, const Transform3f &tf2, const DistanceRequest &request, DistanceResult &result)
	Initialize traversal node for distance computation between two meshes, specialized for OBBRSS type. More...
template<typename BV , typename S , typename NarrowPhaseSolver >
bool	initialize (MeshShapeDistanceTraversalNode< BV, S, NarrowPhaseSolver > &node, BVHModel< BV > &model1, Transform3f &tf1, const S &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest &request, DistanceResult &result, bool use_refit=false, bool refit_bottomup=false)
	Initialize traversal node for distance computation between one mesh and one shape, given the current transforms. More...
template<typename S , typename BV , typename NarrowPhaseSolver >
bool	initialize (ShapeMeshDistanceTraversalNode< S, BV, NarrowPhaseSolver > &node, const S &model1, const Transform3f &tf1, BVHModel< BV > &model2, Transform3f &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest &request, DistanceResult &result, bool use_refit=false, bool refit_bottomup=false)
	Initialize traversal node for distance computation between one shape and one mesh, given the current transforms. More...
template<typename S , typename NarrowPhaseSolver >
bool	initialize (MeshShapeDistanceTraversalNodeRSS< S, NarrowPhaseSolver > &node, const BVHModel< RSS > &model1, const Transform3f &tf1, const S &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest &request, DistanceResult &result)
	Initialize traversal node for distance computation between one mesh and one shape, specialized for RSS type. More...
template<typename S , typename NarrowPhaseSolver >
bool	initialize (MeshShapeDistanceTraversalNodekIOS< S, NarrowPhaseSolver > &node, const BVHModel< kIOS > &model1, const Transform3f &tf1, const S &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest &request, DistanceResult &result)
	Initialize traversal node for distance computation between one mesh and one shape, specialized for kIOS type. More...
template<typename S , typename NarrowPhaseSolver >
bool	initialize (MeshShapeDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver > &node, const BVHModel< OBBRSS > &model1, const Transform3f &tf1, const S &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest &request, DistanceResult &result)
	Initialize traversal node for distance computation between one mesh and one shape, specialized for OBBRSS type. More...
template<typename S , typename NarrowPhaseSolver >
bool	initialize (ShapeMeshDistanceTraversalNodeRSS< S, NarrowPhaseSolver > &node, const S &model1, const Transform3f &tf1, const BVHModel< RSS > &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest &request, DistanceResult &result)
	Initialize traversal node for distance computation between one shape and one mesh, specialized for RSS type. More...
template<typename S , typename NarrowPhaseSolver >
bool	initialize (ShapeMeshDistanceTraversalNodekIOS< S, NarrowPhaseSolver > &node, const S &model1, const Transform3f &tf1, const BVHModel< kIOS > &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest &request, DistanceResult &result)
	Initialize traversal node for distance computation between one shape and one mesh, specialized for kIOS type. More...
template<typename S , typename NarrowPhaseSolver >
bool	initialize (ShapeMeshDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver > &node, const S &model1, const Transform3f &tf1, const BVHModel< OBBRSS > &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest &request, DistanceResult &result)
	Initialize traversal node for distance computation between one shape and one mesh, specialized for OBBRSS type. More...
template<typename BV >
bool	initialize (MeshContinuousCollisionTraversalNode< BV > &node, const BVHModel< BV > &model1, const Transform3f &tf1, const BVHModel< BV > &model2, const Transform3f &tf2, const CollisionRequest &request)
	Initialize traversal node for continuous collision detection between two meshes. More...
template<typename BV >
bool	initialize (MeshConservativeAdvancementTraversalNode< BV > &node, BVHModel< BV > &model1, const Transform3f &tf1, BVHModel< BV > &model2, const Transform3f &tf2, FCL_REAL w=1, bool use_refit=false, bool refit_bottomup=false)
	Initialize traversal node for conservative advancement computation between two meshes, given the current transforms. More...
bool	initialize (MeshConservativeAdvancementTraversalNodeRSS &node, const BVHModel< RSS > &model1, const Transform3f &tf1, const BVHModel< RSS > &model2, const Transform3f &tf2, FCL_REAL w=1)
	Initialize traversal node for conservative advancement computation between two meshes, given the current transforms, specialized for RSS. More...
bool	initialize (MeshConservativeAdvancementTraversalNodeOBBRSS &node, const BVHModel< OBBRSS > &model1, const Transform3f &tf1, const BVHModel< OBBRSS > &model2, const Transform3f &tf2, FCL_REAL w=1)
template<typename S1 , typename S2 , typename NarrowPhaseSolver >
bool	initialize (ShapeConservativeAdvancementTraversalNode< S1, S2, NarrowPhaseSolver > &node, const S1 &shape1, const Transform3f &tf1, const S2 &shape2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver)
template<typename BV , typename S , typename NarrowPhaseSolver >
bool	initialize (MeshShapeConservativeAdvancementTraversalNode< BV, S, NarrowPhaseSolver > &node, BVHModel< BV > &model1, const Transform3f &tf1, const S &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, FCL_REAL w=1, bool use_refit=false, bool refit_bottomup=false)
template<typename S , typename NarrowPhaseSolver >
bool	initialize (MeshShapeConservativeAdvancementTraversalNodeRSS< S, NarrowPhaseSolver > &node, const BVHModel< RSS > &model1, const Transform3f &tf1, const S &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, FCL_REAL w=1)
template<typename S , typename NarrowPhaseSolver >
bool	initialize (MeshShapeConservativeAdvancementTraversalNodeOBBRSS< S, NarrowPhaseSolver > &node, const BVHModel< OBBRSS > &model1, const Transform3f &tf1, const S &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, FCL_REAL w=1)
template<typename S , typename BV , typename NarrowPhaseSolver >
bool	initialize (ShapeMeshConservativeAdvancementTraversalNode< S, BV, NarrowPhaseSolver > &node, const S &model1, const Transform3f &tf1, BVHModel< BV > &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, FCL_REAL w=1, bool use_refit=false, bool refit_bottomup=false)
template<typename S , typename NarrowPhaseSolver >
bool	initialize (ShapeMeshConservativeAdvancementTraversalNodeRSS< S, NarrowPhaseSolver > &node, const S &model1, const Transform3f &tf1, const BVHModel< RSS > &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, FCL_REAL w=1)
template<typename S , typename NarrowPhaseSolver >
bool	initialize (ShapeMeshConservativeAdvancementTraversalNodeOBBRSS< S, NarrowPhaseSolver > &node, const S &model1, const Transform3f &tf1, const BVHModel< OBBRSS > &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, FCL_REAL w=1)
void	collisionRecurse (CollisionTraversalNodeBase *node, int b1, int b2, BVHFrontList *front_list, FCL_REAL &sqrDistLowerBound)
	Recurse function for collision. More...
void	collisionRecurse (MeshCollisionTraversalNodeOBB *node, int b1, int b2, const Matrix3f &R, const Vec3f &T, BVHFrontList *front_list)
	Recurse function for collision, specialized for OBB type. More...
void	collisionRecurse (MeshCollisionTraversalNodeRSS *node, int b1, int b2, const Matrix3f &R, const Vec3f &T, BVHFrontList *front_list)
	Recurse function for collision, specialized for RSS type. More...
void	selfCollisionRecurse (CollisionTraversalNodeBase *node, int b, BVHFrontList *front_list)
	Recurse function for self collision. Make sure node is set correctly so that the first and second tree are the same. More...
void	distanceRecurse (DistanceTraversalNodeBase *node, int b1, int b2, BVHFrontList *front_list)
	Recurse function for distance. More...
void	distanceQueueRecurse (DistanceTraversalNodeBase *node, int b1, int b2, BVHFrontList *front_list, int qsize)
	Recurse function for distance, using queue acceleration. More...
void	propagateBVHFrontListCollisionRecurse (CollisionTraversalNodeBase *node, BVHFrontList *front_list, FCL_REAL &sqrDistLowerBound)
	Recurse function for front list propagation. More...
bool	obbDisjointAndLowerBoundDistance (const Matrix3f &B, const Vec3f &T, const Vec3f &a, const Vec3f &b, FCL_REAL &squaredLowerBoundDistance)
template<typename T_SH1 , typename T_SH2 , typename NarrowPhaseSolver >
FCL_REAL	ShapeShapeDistance (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest &request, DistanceResult &result)
template<typename T_SH1 , typename T_SH2 , typename NarrowPhaseSolver >
std::size_t	ShapeShapeCollide (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest &request, CollisionResult &result)

Detailed Description

Main namespace.

collision and distance function on traversal nodes. these functions provide a higher level abstraction for collision functions provided in collision_func_matrix

Author

Dalibor Matura, Jia Pan

Jia Pan

Florent Lamiraux

Typedef Documentation

typedef std::list<BVHFrontNode> fcl::BVHFrontList

BVH front list is a list of front nodes.

typedef bool(* fcl::CollisionCallBack)(CollisionObject *o1, CollisionObject *o2, void *cdata)

Callback for collision between two objects. Return value is whether can stop now.

typedef boost::shared_ptr<const CollisionGeometry> fcl::CollisionGeometryConstPtr_t

typedef boost::shared_ptr<CollisionGeometry> fcl::CollisionGeometryPtr_t

typedef boost::shared_ptr< const CollisionObject> fcl::CollisionObjectConstPtr_t

typedef boost::shared_ptr<CollisionObject> fcl::CollisionObjectPtr_t

typedef bool(* fcl::ContinuousCollisionCallBack)(ContinuousCollisionObject *o1, ContinuousCollisionObject *o2, void *cdata)

Callback for continuous collision between two objects. Return value is whether can stop now.

typedef bool(* fcl::ContinuousDistanceCallBack)(ContinuousCollisionObject *o1, ContinuousCollisionObject *o2, void *cdata, FCL_REAL &dist)

Callback for continuous distance between two objects, Return value is whether can stop now, also return the minimum distance till now.

typedef bool(* fcl::DistanceCallBack)(CollisionObject *o1, CollisionObject *o2, void *cdata, FCL_REAL &dist)

Callback for distance between two objects, Return value is whether can stop now, also return the minimum distance till now.

typedef boost::int32_t fcl::FCL_INT32

typedef boost::uint64_t fcl::FCL_INT64

typedef double fcl::FCL_REAL

typedef boost::uint32_t fcl::FCL_UINT32

typedef boost::int64_t fcl::FCL_UINT64

typedef Matrix3fX<details::Matrix3Data<FCL_REAL> > fcl::Matrix3f

typedef boost::shared_ptr<MotionBase> fcl::MotionBasePtr

typedef Vec3fX<details::Vec3Data<FCL_REAL> > fcl::Vec3f

Enumeration Type Documentation

enum fcl::BVHBuildState

States for BVH construction empty->begun->processed ->replace_begun->processed -> ......

| |-> update_begun -> updated -> .....

Enumerator
BVH_BUILD_STATE_EMPTY
BVH_BUILD_STATE_BEGUN	empty state, immediately after constructor
BVH_BUILD_STATE_PROCESSED	after beginModel(), state for adding geometry primitives
BVH_BUILD_STATE_UPDATE_BEGUN	after tree has been build, ready for cd use
BVH_BUILD_STATE_UPDATED	after beginUpdateModel(), state for updating geometry primitives
BVH_BUILD_STATE_REPLACE_BEGUN	after tree has been build for updated geometry, ready for ccd use

enum fcl::BVHModelType

BVH model type.

Enumerator
BVH_MODEL_UNKNOWN
BVH_MODEL_TRIANGLES	unknown model type
BVH_MODEL_POINTCLOUD	triangle model point cloud model

enum fcl::BVHReturnCode

Error code for BVH.

Enumerator
BVH_OK
BVH_ERR_MODEL_OUT_OF_MEMORY	BVH is valid.
BVH_ERR_BUILD_OUT_OF_SEQUENCE	Cannot allocate memory for vertices and triangles.
BVH_ERR_BUILD_EMPTY_MODEL	BVH construction does not follow correct sequence.
BVH_ERR_BUILD_EMPTY_PREVIOUS_FRAME	BVH geometry is not prepared.
BVH_ERR_UNSUPPORTED_FUNCTION	BVH geometry in previous frame is not prepared.
BVH_ERR_UNUPDATED_MODEL	BVH funtion is not supported.
BVH_ERR_INCORRECT_DATA	BVH model update failed.
BVH_ERR_UNKNOWN	BVH data is not valid.

enum fcl::CCDMotionType

Enumerator
CCDM_TRANS
CCDM_LINEAR
CCDM_SCREW
CCDM_SPLINE

enum fcl::CCDSolverType

Enumerator
CCDC_NAIVE
CCDC_CONSERVATIVE_ADVANCEMENT
CCDC_RAY_SHOOTING
CCDC_POLYNOMIAL_SOLVER

enum fcl::GJKSolverType

Type of narrow phase GJK solver.

Enumerator
GST_LIBCCD
GST_INDEP

enum fcl::InterpolationType

Enumerator
LINEAR
STANDARD

enum fcl::JointType

Enumerator
JT_UNKNOWN
JT_PRISMATIC
JT_REVOLUTE
JT_BALLEULER

enum fcl::KNNSolverType

Enumerator
KNN_LINEAR
KNN_GNAT
KNN_SQRTAPPROX

enum fcl::NODE_TYPE

traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS, KDOP16, KDOP18, kDOP24), basic shape (box, sphere, capsule, cone, cylinder, convex, plane, triangle), and octree

Enumerator
BV_UNKNOWN
BV_AABB
BV_OBB
BV_RSS
BV_kIOS
BV_OBBRSS
BV_KDOP16
BV_KDOP18
BV_KDOP24
GEOM_BOX
GEOM_SPHERE
GEOM_CAPSULE
GEOM_CONE
GEOM_CYLINDER
GEOM_CONVEX
GEOM_PLANE
GEOM_HALFSPACE
GEOM_TRIANGLE
GEOM_OCTREE
NODE_COUNT

enum fcl::OBJECT_TYPE

object type: BVH (mesh, points), basic geometry, octree

Enumerator
OT_UNKNOWN
OT_BVH
OT_GEOM
OT_OCTREE
OT_COUNT

enum fcl::PenetrationDepthType

Enumerator
PDT_TRANSLATIONAL
PDT_GENERAL_EULER
PDT_GENERAL_QUAT
PDT_GENERAL_EULER_BALL
PDT_GENERAL_QUAT_BALL

enum fcl::SplitMethodType

Three types of split algorithms are provided in FCL as default.

Enumerator
SPLIT_METHOD_MEAN
SPLIT_METHOD_MEDIAN
SPLIT_METHOD_BV_CENTER

Function Documentation

template<typename T >

static Vec3fX<T> fcl::abs ( const Vec3fX< T > &  x )

inlinestatic

References fcl::details::abs(), and fcl::Vec3fX< T >::data.

Referenced by generateCoordinateSystem().

template<typename T >

Matrix3fX<T> fcl::abs

(

const Matrix3fX< T > &

R

)

References fcl::Matrix3fX< T >::data.

Referenced by eigen().

IVector3 fcl::bound	(	const IVector3 &	i,
		const Vec3f &	v
	)

IVector3 fcl::bound	(	const IVector3 &	i,
		const IVector3 &	v
	)

Interval fcl::bound	(	const Interval &	i,
		FCL_REAL	v
	)

Referenced by fcl::MeshConservativeAdvancementTraversalNode< OBBRSS >::canStop(), fcl::MeshShapeConservativeAdvancementTraversalNode< OBBRSS, S, NarrowPhaseSolver >::canStop(), fcl::ShapeMeshConservativeAdvancementTraversalNode< S, OBBRSS, NarrowPhaseSolver >::canStop(), fcl::ContinuousCollisionObject::computeAABB(), fcl::SpatialHashingCollisionManager< HashTable >::computeBound(), fcl::ShapeConservativeAdvancementTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), fcl::MeshConservativeAdvancementTraversalNode< OBBRSS >::leafTesting(), fcl::MeshShapeConservativeAdvancementTraversalNode< OBBRSS, S, NarrowPhaseSolver >::leafTesting(), fcl::ShapeMeshConservativeAdvancementTraversalNode< S, OBBRSS, NarrowPhaseSolver >::leafTesting(), fcl::details::meshConservativeAdvancementTraversalNodeCanStop(), fcl::details::meshShapeConservativeAdvancementOrientedNodeCanStop(), and fcl::details::meshShapeConservativeAdvancementOrientedNodeLeafTesting().

Interval fcl::bound	(	const Interval &	i,
		const Interval &	other
	)

template<typename BV >

void fcl::BVHExpand	(	BVHModel< BV > &	model,
		const Variance3f *	ucs,
		FCL_REAL	r
	)

Expand the BVH bounding boxes according to the variance matrix corresponding to the data stored within each BV node.

References fcl::Variance3f::axis, fcl::BVNode< BV >::bv, fcl::BVNodeBase::first_primitive, fcl::BVHModel< BV >::getBV(), fcl::BVNodeBase::num_primitives, fcl::Variance3f::sigma, v, and fcl::BVHModel< BV >::vertices.

void fcl::BVHExpand	(	BVHModel< OBB > &	model,
		const Variance3f *	ucs,
		FCL_REAL	r
	)

Expand the BVH bounding boxes according to the corresponding variance information, for OBB.

void fcl::BVHExpand	(	BVHModel< RSS > &	model,
		const Variance3f *	ucs,
		FCL_REAL	r
	)

Expand the BVH bounding boxes according to the corresponding variance information, for RSS.

void fcl::circumCircleComputation	(	const Vec3f &	a,
		const Vec3f &	b,
		const Vec3f &	c,
		Vec3f &	center,
		FCL_REAL &	radius
	)

Compute the center and radius for a triangle's circumcircle.

FCL_REAL fcl::collide	(	const ContinuousCollisionObject *	o1,
		const ContinuousCollisionObject *	o2,
		const ContinuousCollisionRequest &	request,
		ContinuousCollisionResult &	result
	)

std::size_t fcl::collide	(	const CollisionObject *	o1,
		const CollisionObject *	o2,
		const CollisionRequest &	request,
		CollisionResult &	result
	)

Main collision interface: given two collision objects, and the requirements for contacts, including num of max contacts, whether perform exhaustive collision (i.e., returning returning all the contact points), whether return detailed contact information (i.e., normal, contact point, depth; otherwise only contact primitive id is returned), this function performs the collision between them.

Return value is the number of contacts generated between the two objects.

Referenced by fcl::SpatialHashingCollisionManager< HashTable >::collide().

std::size_t fcl::collide	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const CollisionRequest &	request,
		CollisionResult &	result
	)

void fcl::collide	(	CollisionTraversalNodeBase *	node,
		FCL_REAL &	sqrDistLowerBound,
		BVHFrontList *	front_list = NULL
	)

collision on collision traversal node

Parameters

node	node containing both objects to test,

Return values

squared

lower bound to the distance between the objects if they do not collide.

Parameters

front_list

list of nodes visited by the query, can be used to accelerate computation

void fcl::collide2	(	MeshCollisionTraversalNodeOBB *	node,
		BVHFrontList *	front_list = NULL
	)

special collision on OBB traversal node

void fcl::collide2	(	MeshCollisionTraversalNodeRSS *	node,
		BVHFrontList *	front_list = NULL
	)

special collision on RSS traversal node

void fcl::collisionRecurse	(	CollisionTraversalNodeBase *	node,
		int	b1,
		int	b2,
		BVHFrontList *	front_list,
		FCL_REAL &	sqrDistLowerBound
	)

Recurse function for collision.

Parameters

node	collision node,
b1,b2	ids of bounding volume nodes for object 1 and object 2

Return values

sqrDistLowerBound

squared lower bound on distance between objects.

void fcl::collisionRecurse	(	MeshCollisionTraversalNodeOBB *	node,
		int	b1,
		int	b2,
		const Matrix3f &	R,
		const Vec3f &	T,
		BVHFrontList *	front_list
	)

Recurse function for collision, specialized for OBB type.

void fcl::collisionRecurse	(	MeshCollisionTraversalNodeRSS *	node,
		int	b1,
		int	b2,
		const Matrix3f &	R,
		const Vec3f &	T,
		BVHFrontList *	front_list
	)

Recurse function for collision, specialized for RSS type.

template<typename T , std::size_t N, std::size_t M>

Vec_n<T, M+N> fcl::combine	(	const Vec_n< T, N > &	v1,
		const Vec_n< T, M > &	v2
	)

References v.

template<typename BV , typename S >

void fcl::computeBV	(	const S &	s,
		const Transform3f &	tf,
		BV &	bv
	)

calculate a bounding volume for a shape in a specific configuration

References fit().

Referenced by initialize(), and fcl::details::setupShapeMeshDistanceOrientedNode().

template<>

void fcl::computeBV< AABB, Box >	(	const Box &	s,
		const Transform3f &	tf,
		AABB &	bv
	)

template<>

void fcl::computeBV< AABB, Capsule >	(	const Capsule &	s,
		const Transform3f &	tf,
		AABB &	bv
	)

template<>

void fcl::computeBV< AABB, Cone >	(	const Cone &	s,
		const Transform3f &	tf,
		AABB &	bv
	)

template<>

void fcl::computeBV< AABB, Convex >	(	const Convex &	s,
		const Transform3f &	tf,
		AABB &	bv
	)

template<>

void fcl::computeBV< AABB, Cylinder >	(	const Cylinder &	s,
		const Transform3f &	tf,
		AABB &	bv
	)

template<>

void fcl::computeBV< AABB, Halfspace >	(	const Halfspace &	s,
		const Transform3f &	tf,
		AABB &	bv
	)

template<>

void fcl::computeBV< AABB, Plane >	(	const Plane &	s,
		const Transform3f &	tf,
		AABB &	bv
	)

template<>

void fcl::computeBV< AABB, Sphere >	(	const Sphere &	s,
		const Transform3f &	tf,
		AABB &	bv
	)

template<>

void fcl::computeBV< AABB, TriangleP >	(	const TriangleP &	s,
		const Transform3f &	tf,
		AABB &	bv
	)

template<>

void fcl::computeBV< KDOP< 16 >, Plane >	(	const Plane &	s,
		const Transform3f &	tf,
		KDOP< 16 > &	bv
	)

template<>

void fcl::computeBV< KDOP< 18 >, Plane >	(	const Plane &	s,
		const Transform3f &	tf,
		KDOP< 18 > &	bv
	)

template<>

void fcl::computeBV< KDOP< 24 >, Plane >	(	const Plane &	s,
		const Transform3f &	tf,
		KDOP< 24 > &	bv
	)

template<>

void fcl::computeBV< kIOS, Plane >	(	const Plane &	s,
		const Transform3f &	tf,
		kIOS &	bv
	)

template<>

void fcl::computeBV< OBB, Box >	(	const Box &	s,
		const Transform3f &	tf,
		OBB &	bv
	)

template<>

void fcl::computeBV< OBB, Capsule >	(	const Capsule &	s,
		const Transform3f &	tf,
		OBB &	bv
	)

template<>

void fcl::computeBV< OBB, Cone >	(	const Cone &	s,
		const Transform3f &	tf,
		OBB &	bv
	)

template<>

void fcl::computeBV< OBB, Convex >	(	const Convex &	s,
		const Transform3f &	tf,
		OBB &	bv
	)

template<>

void fcl::computeBV< OBB, Cylinder >	(	const Cylinder &	s,
		const Transform3f &	tf,
		OBB &	bv
	)

template<>

void fcl::computeBV< OBB, Halfspace >	(	const Halfspace &	s,
		const Transform3f &	tf,
		OBB &	bv
	)

template<>

void fcl::computeBV< OBB, Plane >	(	const Plane &	s,
		const Transform3f &	tf,
		OBB &	bv
	)

template<>

void fcl::computeBV< OBB, Sphere >	(	const Sphere &	s,
		const Transform3f &	tf,
		OBB &	bv
	)

template<>

void fcl::computeBV< OBBRSS, Plane >	(	const Plane &	s,
		const Transform3f &	tf,
		OBBRSS &	bv
	)

template<>

void fcl::computeBV< RSS, Plane >	(	const Plane &	s,
		const Transform3f &	tf,
		RSS &	bv
	)

static void fcl::computeChildBV ( const AABB &  root_bv, unsigned int  i, AABB &  child_bv  )

inlinestatic

compute the bounding volume of an octree node's i-th child

References fcl::AABB::max_, and fcl::AABB::min_.

template<std::size_t N>

Scaler<N> fcl::computeScaler

(

const std::vector< Item< N > > &

data

)

References fcl::details::max().

template<std::size_t N>

Scaler<N> fcl::computeScaler

(

const std::vector< Vecnf< N > > &

data

)

References fcl::details::max().

Quaternion3f fcl::conj

(

const Quaternion3f &

q

)

conjugate of quaternion

Referenced by fcl::Transform3f::inverseTimes().

void fcl::constructBox	(	const AABB &	bv,
		Box &	box,
		Transform3f &	tf
	)

construct a box shape (with a configuration) from a given bounding volume

void fcl::constructBox	(	const OBB &	bv,
		Box &	box,
		Transform3f &	tf
	)

void fcl::constructBox	(	const OBBRSS &	bv,
		Box &	box,
		Transform3f &	tf
	)

void fcl::constructBox	(	const kIOS &	bv,
		Box &	box,
		Transform3f &	tf
	)

void fcl::constructBox	(	const RSS &	bv,
		Box &	box,
		Transform3f &	tf
	)

void fcl::constructBox	(	const KDOP< 16 > &	bv,
		Box &	box,
		Transform3f &	tf
	)

void fcl::constructBox	(	const KDOP< 18 > &	bv,
		Box &	box,
		Transform3f &	tf
	)

void fcl::constructBox	(	const KDOP< 24 > &	bv,
		Box &	box,
		Transform3f &	tf
	)

void fcl::constructBox	(	const AABB &	bv,
		const Transform3f &	tf_bv,
		Box &	box,
		Transform3f &	tf
	)

void fcl::constructBox	(	const OBB &	bv,
		const Transform3f &	tf_bv,
		Box &	box,
		Transform3f &	tf
	)

void fcl::constructBox	(	const OBBRSS &	bv,
		const Transform3f &	tf_bv,
		Box &	box,
		Transform3f &	tf
	)

void fcl::constructBox	(	const kIOS &	bv,
		const Transform3f &	tf_bv,
		Box &	box,
		Transform3f &	tf
	)

void fcl::constructBox	(	const RSS &	bv,
		const Transform3f &	tf_bv,
		Box &	box,
		Transform3f &	tf
	)

void fcl::constructBox	(	const KDOP< 16 > &	bv,
		const Transform3f &	tf_bv,
		Box &	box,
		Transform3f &	tf
	)

void fcl::constructBox	(	const KDOP< 18 > &	bv,
		const Transform3f &	tf_bv,
		Box &	box,
		Transform3f &	tf
	)

void fcl::constructBox	(	const KDOP< 24 > &	bv,
		const Transform3f &	tf_bv,
		Box &	box,
		Transform3f &	tf
	)

FCL_REAL fcl::continuousCollide	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1_beg,
		const Transform3f &	tf1_end,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2_beg,
		const Transform3f &	tf2_end,
		const ContinuousCollisionRequest &	request,
		ContinuousCollisionResult &	result
	)

continous collision checking between two objects

FCL_REAL fcl::continuousCollide	(	const CollisionObject *	o1,
		const Transform3f &	tf1_end,
		const CollisionObject *	o2,
		const Transform3f &	tf2_end,
		const ContinuousCollisionRequest &	request,
		ContinuousCollisionResult &	result
	)

template<typename BV1 , typename BV2 >

static void fcl::convertBV ( const BV1 &  bv1, const Transform3f &  tf1, BV2 &  bv2  )

inlinestatic

Convert a bounding volume of type BV1 in configuration tf1 to bounding volume of type BV2 in identity configuration.

Referenced by fcl::OcTreeSolver< NarrowPhaseSolver >::OcTreeShapeIntersect(), and fcl::OcTreeSolver< NarrowPhaseSolver >::ShapeOcTreeIntersect().

FCL_REAL fcl::distance	(	const CollisionObject *	o1,
		const CollisionObject *	o2,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Main distance interface: given two collision objects, and the requirements for contacts, including whether return the nearest points, this function performs the distance between them.

Return value is the minimum distance generated between the two objects.

FCL_REAL fcl::distance	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

void fcl::distance	(	DistanceTraversalNodeBase *	node,
		BVHFrontList *	front_list = NULL,
		int	qsize = 2
	)

distance computation on distance traversal node; can use front list to accelerate

FCL_REAL fcl::distance	(	const Matrix3f &	R0,
		const Vec3f &	T0,
		const RSS &	b1,
		const RSS &	b2,
		Vec3f *	P = NULL,
		Vec3f *	Q = NULL
	)

distance between two RSS bounding volumes P and Q (optional return values) are the closest points in the rectangles, not the RSS.

But the direction P - Q is the correct direction for cloest points Notice that P and Q are both in the local frame of the first RSS (not global frame and not even the local frame of object 1)

FCL_REAL fcl::distance	(	const Matrix3f &	R0,
		const Vec3f &	T0,
		const kIOS &	b1,
		const kIOS &	b2,
		Vec3f *	P = NULL,
		Vec3f *	Q = NULL
	)

Approximate distance between two kIOS bounding volumes.

Todo:

P and Q is not returned, need implementation

Referenced by fcl::MeshShapeDistanceTraversalNodeRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::MeshShapeDistanceTraversalNodekIOS< S, NarrowPhaseSolver >::BVTesting(), fcl::MeshShapeDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshDistanceTraversalNodeRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshDistanceTraversalNodekIOS< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::MeshShapeConservativeAdvancementTraversalNodeRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::MeshShapeConservativeAdvancementTraversalNodeOBBRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshConservativeAdvancementTraversalNodeRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshConservativeAdvancementTraversalNodeOBBRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::SpatialHashingCollisionManager< HashTable >::distance(), fcl::ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), fcl::ShapeConservativeAdvancementTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), fcl::ShapeMeshDistanceTraversalNode< S, kIOS, NarrowPhaseSolver >::leafTesting(), fcl::details::meshShapeConservativeAdvancementOrientedNodeLeafTesting(), fcl::NearestNeighborsLinear< _T >::nearest(), fcl::NearestNeighborsSqrtApprox< _T >::nearest(), and fcl::DistanceResult::update().

FCL_REAL fcl::distance	(	const Matrix3f &	R0,
		const Vec3f &	T0,
		const OBBRSS &	b1,
		const OBBRSS &	b2,
		Vec3f *	P = NULL,
		Vec3f *	Q = NULL
	)

Computate distance between two OBBRSS, b1 is in configuation (R0, T0) and b2 is in indentity; P and Q, is not NULL, returns the nearest points.

void fcl::distanceQueueRecurse	(	DistanceTraversalNodeBase *	node,
		int	b1,
		int	b2,
		BVHFrontList *	front_list,
		int	qsize
	)

Recurse function for distance, using queue acceleration.

void fcl::distanceRecurse	(	DistanceTraversalNodeBase *	node,
		int	b1,
		int	b2,
		BVHFrontList *	front_list
	)

Recurse function for distance.

template<typename T >

void fcl::eigen	(	const Matrix3fX< T > &	m,
		typename T::meta_type	dout[3],
		Vec3fX< typename T::vector_type >	vout[3]
	)

compute the eigen vector and eigen vector of a matrix. dout is the eigen values, vout is the eigen vectors

References abs(), fcl::Vec3fX< T >::setValue(), and v.

Referenced by fcl::Variance3f::init().

template<typename BV >

void fcl::fit	(	Vec3f *	ps,
		int	n,
		BV &	bv
	)

Compute a bounding volume that fits a set of n points.

Referenced by computeBV().

template<>

void fcl::fit< kIOS >	(	Vec3f *	ps,
		int	n,
		kIOS &	bv
	)

template<>

void fcl::fit< OBB >	(	Vec3f *	ps,
		int	n,
		OBB &	bv
	)

template<>

void fcl::fit< OBBRSS >	(	Vec3f *	ps,
		int	n,
		OBBRSS &	bv
	)

template<>

void fcl::fit< RSS >	(	Vec3f *	ps,
		int	n,
		RSS &	bv
	)

static bool fcl::four_AABBs_intersect_and ( const Vec3f &  min1, const Vec3f &  max1, const Vec3f &  min2, const Vec3f &  max2, const Vec3f &  min3, const Vec3f &  max3, const Vec3f &  min4, const Vec3f &  max4, const Vec3f &  min5, const Vec3f &  max5, const Vec3f &  min6, const Vec3f &  max6, const Vec3f &  min7, const Vec3f &  max7, const Vec3f &  min8, const Vec3f &  max8  )

static

four AABBs versus four AABBs SIMD test

static bool fcl::four_AABBs_intersect_or ( const Vec3f &  min1, const Vec3f &  max1, const Vec3f &  min2, const Vec3f &  max2, const Vec3f &  min3, const Vec3f &  max3, const Vec3f &  min4, const Vec3f &  max4, const Vec3f &  min5, const Vec3f &  max5, const Vec3f &  min6, const Vec3f &  max6, const Vec3f &  min7, const Vec3f &  max7, const Vec3f &  min8, const Vec3f &  max8  )

static

static bool fcl::four_spheres_four_AABBs_intersect_and ( const Vec3f &  o1, FCL_REAL  r1, const Vec3f &  o2, FCL_REAL  r2, const Vec3f &  o3, FCL_REAL  r3, const Vec3f &  o4, FCL_REAL  r4, const Vec3f &  min1, const Vec3f &  max1, const Vec3f &  min2, const Vec3f &  max2, const Vec3f &  min3, const Vec3f &  max3, const Vec3f &  min4, const Vec3f &  max4  )

static

four spheres versus four AABBs SIMD test

static bool fcl::four_spheres_four_AABBs_intersect_or ( const Vec3f &  o1, FCL_REAL  r1, const Vec3f &  o2, FCL_REAL  r2, const Vec3f &  o3, FCL_REAL  r3, const Vec3f &  o4, FCL_REAL  r4, const Vec3f &  min1, const Vec3f &  max1, const Vec3f &  min2, const Vec3f &  max2, const Vec3f &  min3, const Vec3f &  max3, const Vec3f &  min4, const Vec3f &  max4  )

static

static bool fcl::four_spheres_intersect_and ( const Vec3f &  o1, FCL_REAL  r1, const Vec3f &  o2, FCL_REAL  r2, const Vec3f &  o3, FCL_REAL  r3, const Vec3f &  o4, FCL_REAL  r4, const Vec3f &  o5, FCL_REAL  r5, const Vec3f &  o6, FCL_REAL  r6, const Vec3f &  o7, FCL_REAL  r7, const Vec3f &  o8, FCL_REAL  r8  )

static

static bool fcl::four_spheres_intersect_or ( const Vec3f &  o1, FCL_REAL  r1, const Vec3f &  o2, FCL_REAL  r2, const Vec3f &  o3, FCL_REAL  r3, const Vec3f &  o4, FCL_REAL  r4, const Vec3f &  o5, FCL_REAL  r5, const Vec3f &  o6, FCL_REAL  r6, const Vec3f &  o7, FCL_REAL  r7, const Vec3f &  o8, FCL_REAL  r8  )

static

template<typename BV >

void fcl::generateBVHModel	(	BVHModel< BV > &	model,
		const Box &	shape,
		const Transform3f &	pose
	)

Generate BVH model from box.

References fcl::BVHModel< BV >::addSubModel(), fcl::BVHModel< BV >::beginModel(), fcl::BVHModel< BV >::computeLocalAABB(), fcl::BVHModel< BV >::endModel(), fcl::Box::side, and fcl::Transform3f::transform().

Referenced by generateBVHModel().

template<typename BV >

void fcl::generateBVHModel	(	BVHModel< BV > &	model,
		const Sphere &	shape,
		const Transform3f &	pose,
		unsigned int	seg,
		unsigned int	ring
	)

Generate BVH model from sphere, given the number of segments along longitude and number of rings along latitude.

References fcl::BVHModel< BV >::addSubModel(), fcl::BVHModel< BV >::beginModel(), fcl::BVHModel< BV >::computeLocalAABB(), fcl::BVHModel< BV >::endModel(), fcl::Sphere::radius, and fcl::Transform3f::transform().

template<typename BV >

void fcl::generateBVHModel	(	BVHModel< BV > &	model,
		const Sphere &	shape,
		const Transform3f &	pose,
		unsigned int	n_faces_for_unit_sphere
	)

Generate BVH model from sphere The difference between generateBVHModel is that it gives the number of triangles faces N for a sphere with unit radius.

For sphere of radius r, then the number of triangles is r * r * N so that the area represented by a single triangle is approximately the same.s

References generateBVHModel(), and fcl::Sphere::radius.

template<typename BV >

void fcl::generateBVHModel	(	BVHModel< BV > &	model,
		const Cylinder &	shape,
		const Transform3f &	pose,
		unsigned int	tot,
		unsigned int	h_num
	)

Generate BVH model from cylinder, given the number of segments along circle and the number of segments along axis.

References fcl::BVHModel< BV >::addSubModel(), fcl::BVHModel< BV >::beginModel(), fcl::BVHModel< BV >::computeLocalAABB(), fcl::BVHModel< BV >::endModel(), fcl::Cylinder::lz, fcl::Cylinder::radius, and fcl::Transform3f::transform().

template<typename BV >

void fcl::generateBVHModel	(	BVHModel< BV > &	model,
		const Cylinder &	shape,
		const Transform3f &	pose,
		unsigned int	tot_for_unit_cylinder
	)

Generate BVH model from cylinder Difference from generateBVHModel: is that it gives the circle split number tot for a cylinder with unit radius.

For cylinder with larger radius, the number of circle split number is r * tot.

References generateBVHModel(), fcl::Cylinder::lz, and fcl::Cylinder::radius.

template<typename BV >

void fcl::generateBVHModel	(	BVHModel< BV > &	model,
		const Cone &	shape,
		const Transform3f &	pose,
		unsigned int	tot,
		unsigned int	h_num
	)

Generate BVH model from cone, given the number of segments along circle and the number of segments along axis.

References fcl::BVHModel< BV >::addSubModel(), fcl::BVHModel< BV >::beginModel(), fcl::BVHModel< BV >::computeLocalAABB(), fcl::BVHModel< BV >::endModel(), fcl::Cone::lz, fcl::Cone::radius, and fcl::Transform3f::transform().

template<typename BV >

void fcl::generateBVHModel	(	BVHModel< BV > &	model,
		const Cone &	shape,
		const Transform3f &	pose,
		unsigned int	tot_for_unit_cone
	)

Generate BVH model from cone Difference from generateBVHModel: is that it gives the circle split number tot for a cylinder with unit radius.

For cone with larger radius, the number of circle split number is r * tot.

References generateBVHModel(), fcl::Cone::lz, and fcl::Cone::radius.

template<typename T >

void fcl::generateCoordinateSystem	(	const Vec3fX< T > &	w,
		Vec3fX< T > &	u,
		Vec3fX< T > &	v
	)

References abs().

void fcl::generateTaylorModelForCosFunc	(	TaylorModel &	tm,
		FCL_REAL	w,
		FCL_REAL	q0
	)

Generate Taylor model for cos(w t + q0)

Referenced by fcl::ScrewMotion::getTaylorModel(), and fcl::InterpMotion::getTaylorModel().

void fcl::generateTaylorModelForLinearFunc	(	TaylorModel &	tm,
		FCL_REAL	p,
		FCL_REAL	v
	)

Generate Taylor model for p + v t.

Referenced by fcl::ScrewMotion::getTaylorModel(), and fcl::InterpMotion::getTaylorModel().

void fcl::generateTaylorModelForSinFunc	(	TaylorModel &	tm,
		FCL_REAL	w,
		FCL_REAL	q0
	)

Generate Taylor model for sin(w t + q0)

Referenced by fcl::ScrewMotion::getTaylorModel(), and fcl::InterpMotion::getTaylorModel().

void fcl::generateTVector3ForLinearFunc	(	TVector3 &	v,
		const Vec3f &	position,
		const Vec3f &	velocity
	)

void fcl::getCovariance	(	Vec3f *	ps,
		Vec3f *	ps2,
		Triangle *	ts,
		unsigned int *	indices,
		int	n,
		Matrix3f &	M
	)

Compute the covariance matrix for a set or subset of points. if ts = null, then indices refer to points directly; otherwise refer to triangles.

void fcl::getExtentAndCenter	(	Vec3f *	ps,
		Vec3f *	ps2,
		Triangle *	ts,
		unsigned int *	indices,
		int	n,
		Vec3f	axis[3],
		Vec3f &	center,
		Vec3f &	extent
	)

Compute the bounding volume extent and center for a set or subset of points, given the BV axises.

void fcl::getRadiusAndOriginAndRectangleSize	(	Vec3f *	ps,
		Vec3f *	ps2,
		Triangle *	ts,
		unsigned int *	indices,
		int	n,
		Vec3f	axis[3],
		Vec3f &	origin,
		FCL_REAL	l[2],
		FCL_REAL &	r
	)

Compute the RSS bounding volume parameters: radius, rectangle size and the origin, given the BV axises.

template<typename T >

void fcl::hat	(	Matrix3fX< T > &	mat,
		const Vec3fX< typename T::vector_type > &	vec
	)

References fcl::Matrix3fX< T >::setValue().

Referenced by fcl::SplineMotion::getTaylorModel(), fcl::ScrewMotion::getTaylorModel(), and fcl::InterpMotion::getTaylorModel().

template<typename S1 , typename S2 , typename NarrowPhaseSolver >

bool fcl::initialize	(	ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver > &	node,
		const S1 &	shape1,
		const Transform3f &	tf1,
		const S2 &	shape2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		const CollisionRequest &	request,
		CollisionResult &	result
	)

Initialize traversal node for collision between two geometric shapes, given current object transform.

References fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::cost_density, fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::model1, fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::model2, fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::nsolver, fcl::CollisionTraversalNodeBase::request, fcl::CollisionTraversalNodeBase::result, fcl::TraversalNodeBase::tf1, and fcl::TraversalNodeBase::tf2.

template<typename BV , typename S , typename NarrowPhaseSolver >

bool fcl::initialize	(	MeshShapeCollisionTraversalNode< BV, S, NarrowPhaseSolver > &	node,
		BVHModel< BV > &	model1,
		Transform3f &	tf1,
		const S &	model2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		const CollisionRequest &	request,
		CollisionResult &	result,
		bool	use_refit = false,
		bool	refit_bottomup = false
	)

Initialize traversal node for collision between one mesh and one shape, given current object transform.

References fcl::BVHModel< BV >::beginReplaceModel(), BVH_MODEL_TRIANGLES, computeBV(), fcl::CollisionGeometry::cost_density, fcl::MeshShapeCollisionTraversalNode< BV, S, NarrowPhaseSolver >::cost_density, fcl::BVHModel< BV >::endReplaceModel(), fcl::BVHModel< BV >::getModelType(), fcl::Transform3f::isIdentity(), fcl::BVHShapeCollisionTraversalNode< BV, S >::model1, fcl::BVHShapeCollisionTraversalNode< BV, S >::model2, fcl::BVHShapeCollisionTraversalNode< BV, S >::model2_bv, fcl::MeshShapeCollisionTraversalNode< BV, S, NarrowPhaseSolver >::nsolver, fcl::BVHModel< BV >::num_vertices, fcl::BVHModel< BV >::replaceSubModel(), fcl::CollisionTraversalNodeBase::request, fcl::CollisionTraversalNodeBase::result, fcl::Transform3f::setIdentity(), fcl::TraversalNodeBase::tf1, fcl::TraversalNodeBase::tf2, fcl::Transform3f::transform(), fcl::BVHModel< BV >::tri_indices, fcl::MeshShapeCollisionTraversalNode< BV, S, NarrowPhaseSolver >::tri_indices, fcl::BVHModel< BV >::vertices, and fcl::MeshShapeCollisionTraversalNode< BV, S, NarrowPhaseSolver >::vertices.

template<typename S , typename BV , typename NarrowPhaseSolver >

bool fcl::initialize	(	ShapeMeshCollisionTraversalNode< S, BV, NarrowPhaseSolver > &	node,
		const S &	model1,
		const Transform3f &	tf1,
		BVHModel< BV > &	model2,
		Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		const CollisionRequest &	request,
		CollisionResult &	result,
		bool	use_refit = false,
		bool	refit_bottomup = false
	)

Initialize traversal node for collision between one mesh and one shape, given current object transform.

References fcl::BVHModel< BV >::beginReplaceModel(), BVH_MODEL_TRIANGLES, computeBV(), fcl::CollisionGeometry::cost_density, fcl::ShapeMeshCollisionTraversalNode< S, BV, NarrowPhaseSolver >::cost_density, fcl::BVHModel< BV >::endReplaceModel(), fcl::BVHModel< BV >::getModelType(), fcl::Transform3f::isIdentity(), fcl::ShapeBVHCollisionTraversalNode< S, BV >::model1, fcl::ShapeBVHCollisionTraversalNode< S, BV >::model1_bv, fcl::ShapeBVHCollisionTraversalNode< S, BV >::model2, fcl::ShapeMeshCollisionTraversalNode< S, BV, NarrowPhaseSolver >::nsolver, fcl::BVHModel< BV >::num_vertices, fcl::BVHModel< BV >::replaceSubModel(), fcl::CollisionTraversalNodeBase::request, fcl::CollisionTraversalNodeBase::result, fcl::Transform3f::setIdentity(), fcl::TraversalNodeBase::tf1, fcl::TraversalNodeBase::tf2, fcl::Transform3f::transform(), fcl::BVHModel< BV >::tri_indices, fcl::ShapeMeshCollisionTraversalNode< S, BV, NarrowPhaseSolver >::tri_indices, fcl::BVHModel< BV >::vertices, and fcl::ShapeMeshCollisionTraversalNode< S, BV, NarrowPhaseSolver >::vertices.

template<typename S , typename NarrowPhaseSolver >

bool fcl::initialize	(	MeshShapeCollisionTraversalNodeOBB< S, NarrowPhaseSolver > &	node,
		const BVHModel< OBB > &	model1,
		const Transform3f &	tf1,
		const S &	model2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		const CollisionRequest &	request,
		CollisionResult &	result
	)

Initialize the traversal node for collision between one mesh and one shape, specialized for OBB type.

template<typename S , typename NarrowPhaseSolver >

bool fcl::initialize	(	MeshShapeCollisionTraversalNodeRSS< S, NarrowPhaseSolver > &	node,
		const BVHModel< RSS > &	model1,
		const Transform3f &	tf1,
		const S &	model2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		const CollisionRequest &	request,
		CollisionResult &	result
	)

Initialize the traversal node for collision between one mesh and one shape, specialized for RSS type.

template<typename S , typename NarrowPhaseSolver >

bool fcl::initialize	(	MeshShapeCollisionTraversalNodekIOS< S, NarrowPhaseSolver > &	node,
		const BVHModel< kIOS > &	model1,
		const Transform3f &	tf1,
		const S &	model2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		const CollisionRequest &	request,
		CollisionResult &	result
	)

Initialize the traversal node for collision between one mesh and one shape, specialized for kIOS type.

template<typename S , typename NarrowPhaseSolver >

bool fcl::initialize	(	MeshShapeCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver > &	node,
		const BVHModel< OBBRSS > &	model1,
		const Transform3f &	tf1,
		const S &	model2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		const CollisionRequest &	request,
		CollisionResult &	result
	)

Initialize the traversal node for collision between one mesh and one shape, specialized for OBBRSS type.

template<typename S , typename NarrowPhaseSolver >

bool fcl::initialize	(	ShapeMeshCollisionTraversalNodeOBB< S, NarrowPhaseSolver > &	node,
		const S &	model1,
		const Transform3f &	tf1,
		const BVHModel< OBB > &	model2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		const CollisionRequest &	request,
		CollisionResult &	result
	)

Initialize the traversal node for collision between one mesh and one shape, specialized for OBB type.

template<typename S , typename NarrowPhaseSolver >

bool fcl::initialize	(	ShapeMeshCollisionTraversalNodeRSS< S, NarrowPhaseSolver > &	node,
		const S &	model1,
		const Transform3f &	tf1,
		const BVHModel< RSS > &	model2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		const CollisionRequest &	request,
		CollisionResult &	result
	)

Initialize the traversal node for collision between one mesh and one shape, specialized for RSS type.

template<typename S , typename NarrowPhaseSolver >

bool fcl::initialize	(	ShapeMeshCollisionTraversalNodekIOS< S, NarrowPhaseSolver > &	node,
		const S &	model1,
		const Transform3f &	tf1,
		const BVHModel< kIOS > &	model2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		const CollisionRequest &	request,
		CollisionResult &	result
	)

Initialize the traversal node for collision between one mesh and one shape, specialized for kIOS type.

template<typename S , typename NarrowPhaseSolver >

bool fcl::initialize	(	ShapeMeshCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver > &	node,
		const S &	model1,
		const Transform3f &	tf1,
		const BVHModel< OBBRSS > &	model2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		const CollisionRequest &	request,
		CollisionResult &	result
	)

Initialize the traversal node for collision between one mesh and one shape, specialized for OBBRSS type.

template<typename BV >

bool fcl::initialize	(	MeshCollisionTraversalNode< BV > &	node,
		BVHModel< BV > &	model1,
		Transform3f &	tf1,
		BVHModel< BV > &	model2,
		Transform3f &	tf2,
		const CollisionRequest &	request,
		CollisionResult &	result,
		bool	use_refit = false,
		bool	refit_bottomup = false
	)

Initialize traversal node for collision between two meshes, given the current transforms.

References fcl::BVHModel< BV >::beginReplaceModel(), BVH_MODEL_TRIANGLES, fcl::CollisionGeometry::cost_density, fcl::MeshCollisionTraversalNode< BV >::cost_density, fcl::BVHModel< BV >::endReplaceModel(), fcl::BVHModel< BV >::getModelType(), fcl::Transform3f::isIdentity(), fcl::BVHCollisionTraversalNode< BV >::model1, fcl::BVHCollisionTraversalNode< BV >::model2, fcl::BVHModel< BV >::num_vertices, fcl::BVHModel< BV >::replaceSubModel(), fcl::CollisionTraversalNodeBase::request, fcl::CollisionTraversalNodeBase::result, fcl::Transform3f::setIdentity(), fcl::TraversalNodeBase::tf1, fcl::TraversalNodeBase::tf2, fcl::Transform3f::transform(), fcl::BVHModel< BV >::tri_indices, fcl::MeshCollisionTraversalNode< BV >::tri_indices1, fcl::MeshCollisionTraversalNode< BV >::tri_indices2, fcl::BVHModel< BV >::vertices, fcl::MeshCollisionTraversalNode< BV >::vertices1, and fcl::MeshCollisionTraversalNode< BV >::vertices2.

bool fcl::initialize	(	MeshCollisionTraversalNodeOBB &	node,
		const BVHModel< OBB > &	model1,
		const Transform3f &	tf1,
		const BVHModel< OBB > &	model2,
		const Transform3f &	tf2,
		const CollisionRequest &	request,
		CollisionResult &	result
	)

Initialize traversal node for collision between two meshes, specialized for OBB type.

bool fcl::initialize	(	MeshCollisionTraversalNodeRSS &	node,
		const BVHModel< RSS > &	model1,
		const Transform3f &	tf1,
		const BVHModel< RSS > &	model2,
		const Transform3f &	tf2,
		const CollisionRequest &	request,
		CollisionResult &	result
	)

Initialize traversal node for collision between two meshes, specialized for RSS type.

bool fcl::initialize	(	MeshCollisionTraversalNodeOBBRSS &	node,
		const BVHModel< OBBRSS > &	model1,
		const Transform3f &	tf1,
		const BVHModel< OBBRSS > &	model2,
		const Transform3f &	tf2,
		const CollisionRequest &	request,
		CollisionResult &	result
	)

Initialize traversal node for collision between two meshes, specialized for OBBRSS type.

bool fcl::initialize	(	MeshCollisionTraversalNodekIOS &	node,
		const BVHModel< kIOS > &	model1,
		const Transform3f &	tf1,
		const BVHModel< kIOS > &	model2,
		const Transform3f &	tf2,
		const CollisionRequest &	request,
		CollisionResult &	result
	)

Initialize traversal node for collision between two meshes, specialized for kIOS type.

template<typename S1 , typename S2 , typename NarrowPhaseSolver >

bool fcl::initialize	(	ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver > &	node,
		const S1 &	shape1,
		const Transform3f &	tf1,
		const S2 &	shape2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Initialize traversal node for distance between two geometric shapes.

References fcl::ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver >::model1, fcl::ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver >::model2, fcl::ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver >::nsolver, fcl::DistanceTraversalNodeBase::request, fcl::DistanceTraversalNodeBase::result, fcl::TraversalNodeBase::tf1, and fcl::TraversalNodeBase::tf2.

template<typename BV >

bool fcl::initialize	(	MeshDistanceTraversalNode< BV > &	node,
		BVHModel< BV > &	model1,
		Transform3f &	tf1,
		BVHModel< BV > &	model2,
		Transform3f &	tf2,
		const DistanceRequest &	request,
		DistanceResult &	result,
		bool	use_refit = false,
		bool	refit_bottomup = false
	)

Initialize traversal node for distance computation between two meshes, given the current transforms.

References fcl::BVHModel< BV >::beginReplaceModel(), BVH_MODEL_TRIANGLES, fcl::BVHModel< BV >::endReplaceModel(), fcl::BVHModel< BV >::getModelType(), fcl::Transform3f::isIdentity(), fcl::BVHDistanceTraversalNode< BV >::model1, fcl::BVHDistanceTraversalNode< BV >::model2, fcl::BVHModel< BV >::num_vertices, fcl::BVHModel< BV >::replaceSubModel(), fcl::DistanceTraversalNodeBase::request, fcl::DistanceTraversalNodeBase::result, fcl::Transform3f::setIdentity(), fcl::TraversalNodeBase::tf1, fcl::TraversalNodeBase::tf2, fcl::Transform3f::transform(), fcl::BVHModel< BV >::tri_indices, fcl::MeshDistanceTraversalNode< BV >::tri_indices1, fcl::MeshDistanceTraversalNode< BV >::tri_indices2, fcl::BVHModel< BV >::vertices, fcl::MeshDistanceTraversalNode< BV >::vertices1, and fcl::MeshDistanceTraversalNode< BV >::vertices2.

bool fcl::initialize	(	MeshDistanceTraversalNodeRSS &	node,
		const BVHModel< RSS > &	model1,
		const Transform3f &	tf1,
		const BVHModel< RSS > &	model2,
		const Transform3f &	tf2,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Initialize traversal node for distance computation between two meshes, specialized for RSS type.

bool fcl::initialize	(	MeshDistanceTraversalNodekIOS &	node,
		const BVHModel< kIOS > &	model1,
		const Transform3f &	tf1,
		const BVHModel< kIOS > &	model2,
		const Transform3f &	tf2,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Initialize traversal node for distance computation between two meshes, specialized for kIOS type.

bool fcl::initialize	(	MeshDistanceTraversalNodeOBBRSS &	node,
		const BVHModel< OBBRSS > &	model1,
		const Transform3f &	tf1,
		const BVHModel< OBBRSS > &	model2,
		const Transform3f &	tf2,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Initialize traversal node for distance computation between two meshes, specialized for OBBRSS type.

template<typename BV , typename S , typename NarrowPhaseSolver >

bool fcl::initialize	(	MeshShapeDistanceTraversalNode< BV, S, NarrowPhaseSolver > &	node,
		BVHModel< BV > &	model1,
		Transform3f &	tf1,
		const S &	model2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		const DistanceRequest &	request,
		DistanceResult &	result,
		bool	use_refit = false,
		bool	refit_bottomup = false
	)

Initialize traversal node for distance computation between one mesh and one shape, given the current transforms.

References fcl::BVHModel< BV >::beginReplaceModel(), BVH_MODEL_TRIANGLES, computeBV(), fcl::BVHModel< BV >::endReplaceModel(), fcl::BVHModel< BV >::getModelType(), fcl::Transform3f::isIdentity(), fcl::BVHShapeDistanceTraversalNode< BV, S >::model1, fcl::BVHShapeDistanceTraversalNode< BV, S >::model2, fcl::BVHShapeDistanceTraversalNode< BV, S >::model2_bv, fcl::MeshShapeDistanceTraversalNode< BV, S, NarrowPhaseSolver >::nsolver, fcl::BVHModel< BV >::num_vertices, fcl::BVHModel< BV >::replaceSubModel(), fcl::DistanceTraversalNodeBase::request, fcl::DistanceTraversalNodeBase::result, fcl::Transform3f::setIdentity(), fcl::TraversalNodeBase::tf1, fcl::TraversalNodeBase::tf2, fcl::Transform3f::transform(), fcl::BVHModel< BV >::tri_indices, fcl::MeshShapeDistanceTraversalNode< BV, S, NarrowPhaseSolver >::tri_indices, fcl::BVHModel< BV >::vertices, and fcl::MeshShapeDistanceTraversalNode< BV, S, NarrowPhaseSolver >::vertices.

template<typename S , typename BV , typename NarrowPhaseSolver >

bool fcl::initialize	(	ShapeMeshDistanceTraversalNode< S, BV, NarrowPhaseSolver > &	node,
		const S &	model1,
		const Transform3f &	tf1,
		BVHModel< BV > &	model2,
		Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		const DistanceRequest &	request,
		DistanceResult &	result,
		bool	use_refit = false,
		bool	refit_bottomup = false
	)

Initialize traversal node for distance computation between one shape and one mesh, given the current transforms.

References fcl::BVHModel< BV >::beginReplaceModel(), BVH_MODEL_TRIANGLES, computeBV(), fcl::BVHModel< BV >::endReplaceModel(), fcl::BVHModel< BV >::getModelType(), fcl::Transform3f::isIdentity(), fcl::ShapeBVHDistanceTraversalNode< S, BV >::model1, fcl::ShapeBVHDistanceTraversalNode< S, BV >::model1_bv, fcl::ShapeBVHDistanceTraversalNode< S, BV >::model2, fcl::ShapeMeshDistanceTraversalNode< S, BV, NarrowPhaseSolver >::nsolver, fcl::BVHModel< BV >::num_vertices, fcl::BVHModel< BV >::replaceSubModel(), fcl::DistanceTraversalNodeBase::request, fcl::DistanceTraversalNodeBase::result, fcl::Transform3f::setIdentity(), fcl::TraversalNodeBase::tf1, fcl::TraversalNodeBase::tf2, fcl::Transform3f::transform(), fcl::BVHModel< BV >::tri_indices, fcl::ShapeMeshDistanceTraversalNode< S, BV, NarrowPhaseSolver >::tri_indices, fcl::BVHModel< BV >::vertices, and fcl::ShapeMeshDistanceTraversalNode< S, BV, NarrowPhaseSolver >::vertices.

template<typename S , typename NarrowPhaseSolver >

bool fcl::initialize	(	MeshShapeDistanceTraversalNodeRSS< S, NarrowPhaseSolver > &	node,
		const BVHModel< RSS > &	model1,
		const Transform3f &	tf1,
		const S &	model2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Initialize traversal node for distance computation between one mesh and one shape, specialized for RSS type.

template<typename S , typename NarrowPhaseSolver >

bool fcl::initialize	(	MeshShapeDistanceTraversalNodekIOS< S, NarrowPhaseSolver > &	node,
		const BVHModel< kIOS > &	model1,
		const Transform3f &	tf1,
		const S &	model2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Initialize traversal node for distance computation between one mesh and one shape, specialized for kIOS type.

template<typename S , typename NarrowPhaseSolver >

bool fcl::initialize	(	MeshShapeDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver > &	node,
		const BVHModel< OBBRSS > &	model1,
		const Transform3f &	tf1,
		const S &	model2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Initialize traversal node for distance computation between one mesh and one shape, specialized for OBBRSS type.

template<typename S , typename NarrowPhaseSolver >

bool fcl::initialize	(	ShapeMeshDistanceTraversalNodeRSS< S, NarrowPhaseSolver > &	node,
		const S &	model1,
		const Transform3f &	tf1,
		const BVHModel< RSS > &	model2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Initialize traversal node for distance computation between one shape and one mesh, specialized for RSS type.

References fcl::details::setupShapeMeshDistanceOrientedNode().

template<typename S , typename NarrowPhaseSolver >

bool fcl::initialize	(	ShapeMeshDistanceTraversalNodekIOS< S, NarrowPhaseSolver > &	node,
		const S &	model1,
		const Transform3f &	tf1,
		const BVHModel< kIOS > &	model2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Initialize traversal node for distance computation between one shape and one mesh, specialized for kIOS type.

References fcl::details::setupShapeMeshDistanceOrientedNode().

template<typename S , typename NarrowPhaseSolver >

bool fcl::initialize	(	ShapeMeshDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver > &	node,
		const S &	model1,
		const Transform3f &	tf1,
		const BVHModel< OBBRSS > &	model2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Initialize traversal node for distance computation between one shape and one mesh, specialized for OBBRSS type.

References fcl::details::setupShapeMeshDistanceOrientedNode().

template<typename BV >

bool fcl::initialize	(	MeshContinuousCollisionTraversalNode< BV > &	node,
		const BVHModel< BV > &	model1,
		const Transform3f &	tf1,
		const BVHModel< BV > &	model2,
		const Transform3f &	tf2,
		const CollisionRequest &	request
	)

Initialize traversal node for continuous collision detection between two meshes.

References fcl::BVHCollisionTraversalNode< BV >::model1, fcl::BVHCollisionTraversalNode< BV >::model2, fcl::BVHModel< BV >::prev_vertices, fcl::MeshContinuousCollisionTraversalNode< BV >::prev_vertices1, fcl::MeshContinuousCollisionTraversalNode< BV >::prev_vertices2, fcl::CollisionTraversalNodeBase::request, fcl::TraversalNodeBase::tf1, fcl::TraversalNodeBase::tf2, fcl::BVHModel< BV >::tri_indices, fcl::MeshContinuousCollisionTraversalNode< BV >::tri_indices1, fcl::MeshContinuousCollisionTraversalNode< BV >::tri_indices2, fcl::BVHModel< BV >::vertices, fcl::MeshContinuousCollisionTraversalNode< BV >::vertices1, and fcl::MeshContinuousCollisionTraversalNode< BV >::vertices2.

template<typename BV >

bool fcl::initialize	(	MeshConservativeAdvancementTraversalNode< BV > &	node,
		BVHModel< BV > &	model1,
		const Transform3f &	tf1,
		BVHModel< BV > &	model2,
		const Transform3f &	tf2,
		FCL_REAL	w = 1,
		bool	use_refit = false,
		bool	refit_bottomup = false
	)

Initialize traversal node for conservative advancement computation between two meshes, given the current transforms.

References fcl::BVHModel< BV >::beginReplaceModel(), fcl::BVHModel< BV >::endReplaceModel(), fcl::BVHDistanceTraversalNode< BV >::model1, fcl::BVHDistanceTraversalNode< BV >::model2, fcl::BVHModel< BV >::num_vertices, fcl::BVHModel< BV >::replaceSubModel(), fcl::Transform3f::transform(), fcl::BVHModel< BV >::tri_indices, fcl::MeshDistanceTraversalNode< BV >::tri_indices1, fcl::MeshDistanceTraversalNode< BV >::tri_indices2, fcl::BVHModel< BV >::vertices, fcl::MeshDistanceTraversalNode< BV >::vertices1, fcl::MeshDistanceTraversalNode< BV >::vertices2, and fcl::MeshConservativeAdvancementTraversalNode< BV >::w.

bool fcl::initialize	(	MeshConservativeAdvancementTraversalNodeRSS &	node,
		const BVHModel< RSS > &	model1,
		const Transform3f &	tf1,
		const BVHModel< RSS > &	model2,
		const Transform3f &	tf2,
		FCL_REAL	w = 1
	)

Initialize traversal node for conservative advancement computation between two meshes, given the current transforms, specialized for RSS.

bool fcl::initialize	(	MeshConservativeAdvancementTraversalNodeOBBRSS &	node,
		const BVHModel< OBBRSS > &	model1,
		const Transform3f &	tf1,
		const BVHModel< OBBRSS > &	model2,
		const Transform3f &	tf2,
		FCL_REAL	w = 1
	)

template<typename S1 , typename S2 , typename NarrowPhaseSolver >

bool fcl::initialize	(	ShapeConservativeAdvancementTraversalNode< S1, S2, NarrowPhaseSolver > &	node,
		const S1 &	shape1,
		const Transform3f &	tf1,
		const S2 &	shape2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver
	)

References fcl::ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver >::model1, fcl::ShapeConservativeAdvancementTraversalNode< S1, S2, NarrowPhaseSolver >::model1_bv, fcl::ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver >::model2, fcl::ShapeConservativeAdvancementTraversalNode< S1, S2, NarrowPhaseSolver >::model2_bv, fcl::ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver >::nsolver, fcl::TraversalNodeBase::tf1, and fcl::TraversalNodeBase::tf2.

template<typename BV , typename S , typename NarrowPhaseSolver >

bool fcl::initialize	(	MeshShapeConservativeAdvancementTraversalNode< BV, S, NarrowPhaseSolver > &	node,
		BVHModel< BV > &	model1,
		const Transform3f &	tf1,
		const S &	model2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		FCL_REAL	w = 1,
		bool	use_refit = false,
		bool	refit_bottomup = false
	)

References fcl::BVHModel< BV >::beginReplaceModel(), fcl::BVHModel< BV >::endReplaceModel(), fcl::BVHShapeDistanceTraversalNode< BV, S >::model1, fcl::BVHShapeDistanceTraversalNode< BV, S >::model2, fcl::BVHShapeDistanceTraversalNode< BV, S >::model2_bv, fcl::MeshShapeDistanceTraversalNode< BV, S, NarrowPhaseSolver >::nsolver, fcl::BVHModel< BV >::num_vertices, fcl::BVHModel< BV >::replaceSubModel(), fcl::TraversalNodeBase::tf1, fcl::TraversalNodeBase::tf2, fcl::Transform3f::transform(), fcl::BVHModel< BV >::tri_indices, fcl::MeshShapeDistanceTraversalNode< BV, S, NarrowPhaseSolver >::tri_indices, fcl::BVHModel< BV >::vertices, fcl::MeshShapeDistanceTraversalNode< BV, S, NarrowPhaseSolver >::vertices, and fcl::MeshShapeConservativeAdvancementTraversalNode< BV, S, NarrowPhaseSolver >::w.

template<typename S , typename NarrowPhaseSolver >

bool fcl::initialize	(	MeshShapeConservativeAdvancementTraversalNodeRSS< S, NarrowPhaseSolver > &	node,
		const BVHModel< RSS > &	model1,
		const Transform3f &	tf1,
		const S &	model2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		FCL_REAL	w = 1
	)

References fcl::BVHShapeDistanceTraversalNode< RSS, S >::model1, fcl::BVHShapeDistanceTraversalNode< RSS, S >::model2, fcl::BVHShapeDistanceTraversalNode< RSS, S >::model2_bv, fcl::MeshShapeDistanceTraversalNode< RSS, S, NarrowPhaseSolver >::nsolver, fcl::TraversalNodeBase::tf1, fcl::TraversalNodeBase::tf2, and fcl::MeshShapeConservativeAdvancementTraversalNode< RSS, S, NarrowPhaseSolver >::w.

template<typename S , typename NarrowPhaseSolver >

bool fcl::initialize	(	MeshShapeConservativeAdvancementTraversalNodeOBBRSS< S, NarrowPhaseSolver > &	node,
		const BVHModel< OBBRSS > &	model1,
		const Transform3f &	tf1,
		const S &	model2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		FCL_REAL	w = 1
	)

References fcl::BVHShapeDistanceTraversalNode< OBBRSS, S >::model1, fcl::BVHShapeDistanceTraversalNode< OBBRSS, S >::model2, fcl::BVHShapeDistanceTraversalNode< OBBRSS, S >::model2_bv, fcl::MeshShapeDistanceTraversalNode< OBBRSS, S, NarrowPhaseSolver >::nsolver, fcl::TraversalNodeBase::tf1, fcl::TraversalNodeBase::tf2, and fcl::MeshShapeConservativeAdvancementTraversalNode< OBBRSS, S, NarrowPhaseSolver >::w.

template<typename S , typename BV , typename NarrowPhaseSolver >

bool fcl::initialize	(	ShapeMeshConservativeAdvancementTraversalNode< S, BV, NarrowPhaseSolver > &	node,
		const S &	model1,
		const Transform3f &	tf1,
		BVHModel< BV > &	model2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		FCL_REAL	w = 1,
		bool	use_refit = false,
		bool	refit_bottomup = false
	)

References fcl::BVHModel< BV >::beginReplaceModel(), fcl::BVHModel< BV >::endReplaceModel(), fcl::ShapeBVHDistanceTraversalNode< S, BV >::model1, fcl::ShapeBVHDistanceTraversalNode< S, BV >::model1_bv, fcl::ShapeBVHDistanceTraversalNode< S, BV >::model2, fcl::ShapeMeshDistanceTraversalNode< S, BV, NarrowPhaseSolver >::nsolver, fcl::BVHModel< BV >::num_vertices, fcl::BVHModel< BV >::replaceSubModel(), fcl::TraversalNodeBase::tf1, fcl::TraversalNodeBase::tf2, fcl::Transform3f::transform(), fcl::BVHModel< BV >::tri_indices, fcl::ShapeMeshDistanceTraversalNode< S, BV, NarrowPhaseSolver >::tri_indices, fcl::BVHModel< BV >::vertices, fcl::ShapeMeshDistanceTraversalNode< S, BV, NarrowPhaseSolver >::vertices, and fcl::ShapeMeshConservativeAdvancementTraversalNode< S, BV, NarrowPhaseSolver >::w.

template<typename S , typename NarrowPhaseSolver >

bool fcl::initialize	(	ShapeMeshConservativeAdvancementTraversalNodeRSS< S, NarrowPhaseSolver > &	node,
		const S &	model1,
		const Transform3f &	tf1,
		const BVHModel< RSS > &	model2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		FCL_REAL	w = 1
	)

References fcl::ShapeBVHDistanceTraversalNode< S, RSS >::model1, fcl::ShapeBVHDistanceTraversalNode< S, RSS >::model1_bv, fcl::ShapeBVHDistanceTraversalNode< S, RSS >::model2, fcl::ShapeMeshDistanceTraversalNode< S, RSS, NarrowPhaseSolver >::nsolver, fcl::TraversalNodeBase::tf1, fcl::TraversalNodeBase::tf2, and fcl::ShapeMeshConservativeAdvancementTraversalNode< S, RSS, NarrowPhaseSolver >::w.

template<typename S , typename NarrowPhaseSolver >

bool fcl::initialize	(	ShapeMeshConservativeAdvancementTraversalNodeOBBRSS< S, NarrowPhaseSolver > &	node,
		const S &	model1,
		const Transform3f &	tf1,
		const BVHModel< OBBRSS > &	model2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		FCL_REAL	w = 1
	)

References fcl::ShapeBVHDistanceTraversalNode< S, OBBRSS >::model1, fcl::ShapeBVHDistanceTraversalNode< S, OBBRSS >::model1_bv, fcl::ShapeBVHDistanceTraversalNode< S, OBBRSS >::model2, fcl::ShapeMeshDistanceTraversalNode< S, OBBRSS, NarrowPhaseSolver >::nsolver, fcl::TraversalNodeBase::tf1, fcl::TraversalNodeBase::tf2, and fcl::ShapeMeshConservativeAdvancementTraversalNode< S, OBBRSS, NarrowPhaseSolver >::w.

Quaternion3f fcl::inverse

(

const Quaternion3f &

q

)

inverse of quaternion

Transform3f fcl::inverse

(

const Transform3f &

tf

)

inverse the transform

template<typename T >

Matrix3fX<T> fcl::inverse

(

const Matrix3fX< T > &

R

)

References fcl::Matrix3fX< T >::data.

Referenced by fcl::ScrewMotion::computeScrewParameter(), fcl::GJKSolver_libccd::shapeTriangleDistance(), fcl::GJKSolver_indep::shapeTriangleDistance(), and fcl::GJKSolver_indep::shapeTriangleIntersect().

template<typename T >

static Vec3fX<T> fcl::max ( const Vec3fX< T > &  x, const Vec3fX< T > &  y  )

inlinestatic

References fcl::Vec3fX< T >::data, and fcl::details::max().

Referenced by fcl::AABB::overlap().

FCL_REAL fcl::maximumDistance	(	Vec3f *	ps,
		Vec3f *	ps2,
		Triangle *	ts,
		unsigned int *	indices,
		int	n,
		const Vec3f &	query
	)

Compute the maximum distance from a given center point to a point cloud.

template<typename T >

static Vec3fX<T> fcl::min ( const Vec3fX< T > &  x, const Vec3fX< T > &  y  )

inlinestatic

References fcl::Vec3fX< T >::data, and fcl::details::min().

Referenced by fcl::AABB::overlap().

template<typename BV >

bool fcl::nodeBaseLess	(	NodeBase< BV > *	a,
		NodeBase< BV > *	b,
		int	d
	)

Compare two nodes accoording to the d-th dimension of node center.

References fcl::NodeBase< BV >::bv.

template<typename T >

static Vec3fX<T> fcl::normalize ( const Vec3fX< T > &  v )

inlinestatic

References fcl::Vec3fX< T >::data, fcl::details::dot_prod3(), and v.

bool fcl::obbDisjoint	(	const Matrix3f &	B,
		const Vec3f &	T,
		const Vec3f &	a,
		const Vec3f &	b
	)

Check collision between two boxes.

Parameters

B,T	orientation and position of first box,
a	half dimensions of first box,
b	half dimensions of second box. The second box is in identity configuration.

bool fcl::obbDisjointAndLowerBoundDistance	(	const Matrix3f &	B,
		const Vec3f &	T,
		const Vec3f &	a,
		const Vec3f &	b,
		FCL_REAL &	squaredLowerBoundDistance
	)

TVector3 fcl::operator*	(	const Vec3f &	v,
		const TaylorModel &	a
	)

TMatrix3 fcl::operator*	(	const Matrix3f &	m,
		const TaylorModel &	a
	)

TMatrix3 fcl::operator*	(	const TaylorModel &	a,
		const Matrix3f &	m
	)

TMatrix3 fcl::operator*	(	const TaylorModel &	a,
		const TMatrix3 &	m
	)

TMatrix3 fcl::operator*	(	FCL_REAL	d,
		const TMatrix3 &	m
	)

TaylorModel fcl::operator*	(	FCL_REAL	d,
		const TaylorModel &	a
	)

template<typename T , std::size_t N>

Vec_n<T, N> fcl::operator*	(	T	t,
		const Vec_n< T, N > &	v
	)

template<typename T >

Vec3fX<T> fcl::operator* ( const typename Vec3fX< T >::U &  t, const Vec3fX< T > &  v  )

inline

References fcl::Vec3fX< T >::data.

TVector3 fcl::operator+	(	const Vec3f &	v1,
		const TVector3 &	v2
	)

TMatrix3 fcl::operator+	(	const Matrix3f &	m1,
		const TMatrix3 &	m2
	)

TaylorModel fcl::operator+	(	FCL_REAL	d,
		const TaylorModel &	a
	)

TVector3 fcl::operator-	(	const Vec3f &	v1,
		const TVector3 &	v2
	)

TMatrix3 fcl::operator-	(	const Matrix3f &	m1,
		const TMatrix3 &	m2
	)

TaylorModel fcl::operator-	(	FCL_REAL	d,
		const TaylorModel &	a
	)

template<typename T >

std::ostream& fcl::operator<<	(	std::ostream &	out,
		const Vec3fX< T > &	x
	)

template<typename T , std::size_t N>

std::ostream& fcl::operator<<	(	std::ostream &	o,
		const Vec_n< T, N > &	v
	)

References v.

static std::ostream& fcl::operator<< ( std::ostream &  o, const Vec3f &  v  )

inlinestatic

static std::ostream& fcl::operator<< ( std::ostream &  o, const Matrix3f &  m  )

inlinestatic

bool fcl::overlap	(	const Matrix3f &	R0,
		const Vec3f &	T0,
		const OBB &	b1,
		const OBB &	b2
	)

Check collision between two obbs, b1 is in configuration (R0, T0) and b2 is in identity.

bool fcl::overlap	(	const Matrix3f &	R0,
		const Vec3f &	T0,
		const OBB &	b1,
		const OBB &	b2,
		FCL_REAL &	sqrDistLowerBound
	)

Check collision between two obbs, b1 is in configuration (R0, T0) and b2 is in identity.

bool fcl::overlap	(	const Matrix3f &	R0,
		const Vec3f &	T0,
		const RSS &	b1,
		const RSS &	b2
	)

Check collision between two RSSs, b1 is in configuration (R0, T0) and b2 is in identity.

bool fcl::overlap	(	const Matrix3f &	R0,
		const Vec3f &	T0,
		const kIOS &	b1,
		const kIOS &	b2
	)

Check collision between two kIOSs, b1 is in configuration (R0, T0) and b2 is in identity.

Todo:

Not efficient

Referenced by fcl::MeshShapeCollisionTraversalNodeOBB< S, NarrowPhaseSolver >::BVTesting(), fcl::MeshShapeCollisionTraversalNodeRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::MeshShapeCollisionTraversalNodekIOS< S, NarrowPhaseSolver >::BVTesting(), fcl::MeshShapeCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshCollisionTraversalNodeOBB< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshCollisionTraversalNodeRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshCollisionTraversalNodekIOS< S, NarrowPhaseSolver >::BVTesting(), and fcl::ShapeMeshCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >::BVTesting().

bool fcl::overlap	(	const Matrix3f &	R0,
		const Vec3f &	T0,
		const OBBRSS &	b1,
		const OBBRSS &	b2
	)

Check collision between two OBBRSS, b1 is in configuration (R0, T0) and b2 is in indentity.

bool fcl::overlap	(	const Matrix3f &	R0,
		const Vec3f &	T0,
		const OBBRSS &	b1,
		const OBBRSS &	b2,
		FCL_REAL &	sqrDistLowerBound
	)

Check collision between two OBBRSS.

Parameters

b1	first OBBRSS in configuration (R0, T0)
b2	second OBBRSS in identity position

Return values

squared

lower bound on the distance if OBBRSS do not overlap.

void fcl::propagateBVHFrontListCollisionRecurse	(	CollisionTraversalNodeBase *	node,
		BVHFrontList *	front_list,
		FCL_REAL &	sqrDistLowerBound
	)

Recurse function for front list propagation.

template<typename T >

T::meta_type fcl::quadraticForm	(	const Matrix3fX< T > &	R,
		const Vec3fX< typename T::vector_type > &	v
	)

References fcl::Vec3fX< T >::dot().

template<typename T >

void fcl::relativeTransform	(	const Matrix3fX< T > &	R1,
		const Vec3fX< typename T::vector_type > &	t1,
		const Matrix3fX< T > &	R2,
		const Vec3fX< typename T::vector_type > &	t2,
		Matrix3fX< T > &	R,
		Vec3fX< typename T::vector_type > &	t
	)

References fcl::Matrix3fX< T >::transposeTimes().

void fcl::relativeTransform	(	const Transform3f &	tf1,
		const Transform3f &	tf2,
		Transform3f &	tf
	)

compute the relative transform between two transforms: tf2 = tf1 * tf (relative to the local coordinate system in tf1)

void fcl::relativeTransform2	(	const Transform3f &	tf1,
		const Transform3f &	tf2,
		Transform3f &	tf
	)

compute the relative transform between two transforms: tf2 = tf * tf1 (relative to the global coordinate system)

template<typename T1 , std::size_t N1, typename T2 , std::size_t N2>

void fcl::repack	(	const Vec_n< T1, N1 > &	input,
		Vec_n< T2, N2 > &	output
	)

References fcl::details::min().

IMatrix3 fcl::rotationConstrain

(

const IMatrix3 &

m

)

TMatrix3 fcl::rotationConstrain

(

const TMatrix3 &

m

)

template<typename BV >

size_t fcl::select	(	const NodeBase< BV > &	query,
		const NodeBase< BV > &	node1,
		const NodeBase< BV > &	node2
	)

select from node1 and node2 which is close to a given query. 0 for node1 and 1 for node2

template<>

size_t fcl::select	(	const NodeBase< AABB > &	node,
		const NodeBase< AABB > &	node1,
		const NodeBase< AABB > &	node2
	)

template<typename BV >

size_t fcl::select	(	const BV &	query,
		const NodeBase< BV > &	node1,
		const NodeBase< BV > &	node2
	)

select from node1 and node2 which is close to a given query bounding volume. 0 for node1 and 1 for node2

template<>

size_t fcl::select	(	const AABB &	query,
		const NodeBase< AABB > &	node1,
		const NodeBase< AABB > &	node2
	)

void fcl::selfCollide	(	CollisionTraversalNodeBase *	node,
		BVHFrontList *	front_list = NULL
	)

self collision on collision traversal node; can use front list to accelerate

void fcl::selfCollisionRecurse	(	CollisionTraversalNodeBase *	node,
		int	b,
		BVHFrontList *	front_list
	)

Recurse function for self collision. Make sure node is set correctly so that the first and second tree are the same.

template<typename T_SH1 , typename T_SH2 , typename NarrowPhaseSolver >

std::size_t fcl::ShapeShapeCollide	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		const CollisionRequest &	request,
		CollisionResult &	result
	)

template<typename T_SH1 , typename T_SH2 , typename NarrowPhaseSolver >

FCL_REAL fcl::ShapeShapeDistance	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

static __m128 fcl::sse_four_AABBs_intersect ( const Vec3f &  min1, const Vec3f &  max1, const Vec3f &  min2, const Vec3f &  max2, const Vec3f &  min3, const Vec3f &  max3, const Vec3f &  min4, const Vec3f &  max4, const Vec3f &  min5, const Vec3f &  max5, const Vec3f &  min6, const Vec3f &  max6, const Vec3f &  min7, const Vec3f &  max7, const Vec3f &  min8, const Vec3f &  max8  )

inlinestatic

static __m128 fcl::sse_four_spheres_four_AABBs_intersect ( const Vec3f &  o1, FCL_REAL  r1, const Vec3f &  o2, FCL_REAL  r2, const Vec3f &  o3, FCL_REAL  r3, const Vec3f &  o4, FCL_REAL  r4, const Vec3f &  min1, const Vec3f &  max1, const Vec3f &  min2, const Vec3f &  max2, const Vec3f &  min3, const Vec3f &  max3, const Vec3f &  min4, const Vec3f &  max4  )

inlinestatic

static __m128 fcl::sse_four_spheres_intersect ( const Vec3f &  o1, FCL_REAL  r1, const Vec3f &  o2, FCL_REAL  r2, const Vec3f &  o3, FCL_REAL  r3, const Vec3f &  o4, FCL_REAL  r4, const Vec3f &  o5, FCL_REAL  r5, const Vec3f &  o6, FCL_REAL  r6, const Vec3f &  o7, FCL_REAL  r7, const Vec3f &  o8, FCL_REAL  r8  )

inlinestatic

Halfspace fcl::transform	(	const Halfspace &	a,
		const Transform3f &	tf
	)

Referenced by fcl::DynamicAABBTreeCollisionManager_Array::getObjects(), and fcl::DynamicAABBTreeCollisionManager::getObjects().

Plane fcl::transform	(	const Plane &	a,
		const Transform3f &	tf
	)

OBB fcl::translate	(	const OBB &	bv,
		const Vec3f &	t
	)

Translate the OBB bv.

RSS fcl::translate	(	const RSS &	bv,
		const Vec3f &	t
	)

Translate the RSS bv.

kIOS fcl::translate	(	const kIOS &	bv,
		const Vec3f &	t
	)

Translate the kIOS BV.

OBBRSS fcl::translate	(	const OBBRSS &	bv,
		const Vec3f &	t
	)

Translate the OBBRSS bv.

template<size_t N>

KDOP<N> fcl::translate	(	const KDOP< N > &	bv,
		const Vec3f &	t
	)

translate the KDOP BV

static AABB fcl::translate ( const AABB &  aabb, const Vec3f &  t  )

inlinestatic

translate the center of AABB by t

References fcl::AABB::max_, and fcl::AABB::min_.

Referenced by fcl::CollisionObject::computeAABB().

template<typename T >

Matrix3fX<T> fcl::transpose

(

const Matrix3fX< T > &

R

)

References fcl::Matrix3fX< T >::data.

Referenced by fcl::BVHModel< OBBRSS >::computeMomentofInertia(), and fcl::Convex::computeMomentofInertia().

template<typename T >

static T::meta_type fcl::triple ( const Vec3fX< T > &  x, const Vec3fX< T > &  y, const Vec3fX< T > &  z  )

inlinestatic

References fcl::Vec3fX< T >::cross(), and fcl::Vec3fX< T >::dot().

void fcl::updateFrontList ( BVHFrontList *  front_list, int  b1, int  b2  )

inline

Add new front node into the front list.