| ►Nfcl | Main namespace |
| ►Ndetails | FCL internals |
| CEPA | Class for EPA algorithm |
| ►CGJK | Class for GJK algorithm |
| CSimplex | |
| CSimplexV | |
| CGJKInitializer | Initialize GJK stuffs |
| CGJKInitializer< Box > | Initialize GJK Box |
| CGJKInitializer< Capsule > | Initialize GJK Capsule |
| CGJKInitializer< Cone > | Initialize GJK Cone |
| CGJKInitializer< Convex > | Initialize GJK Convex |
| CGJKInitializer< Cylinder > | Initialize GJK Cylinder |
| CGJKInitializer< Sphere > | Initialize GJK Sphere |
| CMatrix3Data | |
| CMinkowskiDiff | Minkowski difference class of two shapes |
| Csse_meta_d4 | |
| Csse_meta_f12 | |
| Csse_meta_f16 | |
| Csse_meta_f4 | |
| CVec3Data | |
| ►Nimplementation_array | |
| CHierarchyTree | Class for hierarchy tree structure |
| CNodeBase | |
| CnodeBaseLess | Functor comparing two nodes |
| ►Ntools | |
| ►CProfiler | This is a simple thread-safe tool for counting time spent in various chunks of code |
| CScopedBlock | This instance will call Profiler::begin() when constructed and Profiler::end() when it goes out of scope |
| CScopedStart | This instance will call Profiler::start() when constructed and Profiler::stop() when it goes out of scope |
| CAABB | A class describing the AABB collision structure, which is a box in 3D space determined by two diagonal points |
| CBallEulerJoint | |
| CBox | Center at zero point, axis aligned box |
| CBroadPhaseCollisionManager | 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 |
| CBroadPhaseContinuousCollisionManager | 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 |
| CBVFitter | The class for the default algorithm fitting a bounding volume to a set of points |
| CBVFitter< kIOS > | Specification of BVFitter for kIOS bounding volume |
| CBVFitter< OBB > | Specification of BVFitter for OBB bounding volume |
| CBVFitter< OBBRSS > | Specification of BVFitter for OBBRSS bounding volume |
| CBVFitter< RSS > | Specification of BVFitter for RSS bounding volume |
| CBVFitterBase | Interface for fitting a bv given the triangles or points inside it |
| CBVHCollisionTraversalNode | Traversal node for collision between BVH models |
| CBVHContinuousCollisionPair | Traversal node for continuous collision between BVH models |
| CBVHDistanceTraversalNode | Traversal node for distance computation between BVH models |
| CBVHFrontNode | 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 |
| CBVHModel | A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh) |
| CBVHShapeCollisionTraversalNode | Traversal node for collision between BVH and shape |
| CBVHShapeDistanceTraversalNode | Traversal node for distance computation between BVH and shape |
| CBVMotionBoundVisitor | Compute the motion bound for a bounding volume, given the closest direction n between two query objects |
| CBVNode | 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 |
| CBVNodeBase | BVNodeBase encodes the tree structure for BVH |
| CBVSplitter | A class describing the split rule that splits each BV node |
| CBVSplitterBase | Base interface for BV splitting algorithm |
| CCapsule | Center at zero point capsule |
| CCollisionFunctionMatrix | Collision matrix stores the functions for collision between different types of objects and provides a uniform call interface |
| CCollisionGeometry | The geometry for the object for collision or distance computation |
| CCollisionObject | Object for collision or distance computation, contains the geometry and the transform information |
| CCollisionRequest | Request to the collision algorithm |
| CCollisionResult | Collision result |
| CCollisionTraversalNodeBase | Node structure encoding the information required for collision traversal |
| CCone | Center at zero cone |
| CConservativeAdvancementFunctionMatrix | |
| CConservativeAdvancementStackData | |
| CContact | Contact information returned by collision |
| CContinuousCollisionObject | Object for continuous collision or distance computation, contains the geometry and the motion information |
| CContinuousCollisionRequest | |
| CContinuousCollisionResult | Continuous collision result |
| ►CConvex | Convex polytope |
| CEdge | |
| CCostSource | Cost source describes an area with a cost. The area is described by an AABB region |
| CCylinder | Center at zero cylinder |
| CDistanceFunctionMatrix | Distance matrix stores the functions for distance between different types of objects and provides a uniform call interface |
| CDistanceRequest | Request to the distance computation |
| CDistanceResult | Distance result |
| CDistanceTraversalNodeBase | Node structure encoding the information required for distance traversal |
| CDynamicAABBTreeCollisionManager | |
| CDynamicAABBTreeCollisionManager_Array | |
| CException | |
| CGJKSolver_indep | Collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the GJK in bullet) |
| CGJKSolver_libccd | Collision and distance solver based on libccd library |
| CGreedyKCenters | 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 |
| CHalfspace | Half Space: this is equivalent to the Plane in ODE |
| CHierarchyTree | Class for hierarchy tree structure |
| CIMatrix3 | |
| CInterpMotion | 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 |
| CInterpolation | |
| CInterpolationFactory | |
| CInterpolationLinear | |
| CIntersect | CCD intersect kernel among primitives |
| CInterval | Interval class for [a, b] |
| CIntervalTree | Interval tree |
| ►CIntervalTreeCollisionManager | Collision manager based on interval tree |
| CEndPoint | SAP end point |
| CSAPInterval | Extention interval tree's interval to SAP interval, adding more information |
| CIntervalTreeNode | The node for interval tree |
| CItem | |
| CIVector3 | |
| CJoint | Base Joint |
| CJointConfig | |
| CKDOP | KDOP class describes the KDOP collision structures |
| CkIOS | A class describing the kIOS collision structure, which is a set of spheres |
| CLink | |
| CMatrix3fX | Matrix2 class wrapper. the core data is in the template parameter class |
| CMeshCollisionTraversalNode | Traversal node for collision between two meshes |
| CMeshCollisionTraversalNodekIOS | |
| CMeshCollisionTraversalNodeOBB | Traversal node for collision between two meshes if their underlying BVH node is oriented node (OBB, RSS, OBBRSS, kIOS) |
| CMeshCollisionTraversalNodeOBBRSS | |
| CMeshCollisionTraversalNodeRSS | |
| CMeshConservativeAdvancementTraversalNode | 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 |
| CMeshConservativeAdvancementTraversalNodeOBBRSS | |
| CMeshConservativeAdvancementTraversalNodeRSS | |
| CMeshContinuousCollisionTraversalNode | Traversal node for continuous collision between meshes |
| CMeshDistanceTraversalNode | Traversal node for distance computation between two meshes |
| CMeshDistanceTraversalNodekIOS | |
| CMeshDistanceTraversalNodeOBBRSS | |
| CMeshDistanceTraversalNodeRSS | Traversal node for distance computation between two meshes if their underlying BVH node is oriented node (RSS, OBBRSS, kIOS) |
| CMeshOcTreeCollisionTraversalNode | Traversal node for mesh-octree collision |
| CMeshOcTreeDistanceTraversalNode | Traversal node for mesh-octree distance |
| CMeshShapeCollisionTraversalNode | Traversal node for collision between mesh and shape |
| CMeshShapeCollisionTraversalNodekIOS | |
| CMeshShapeCollisionTraversalNodeOBB | Traversal node for mesh and shape, when mesh BVH is one of the oriented node (OBB, RSS, OBBRSS, kIOS) |
| CMeshShapeCollisionTraversalNodeOBBRSS | |
| CMeshShapeCollisionTraversalNodeRSS | |
| CMeshShapeConservativeAdvancementTraversalNode | Traversal node for conservative advancement computation between BVH and shape |
| CMeshShapeConservativeAdvancementTraversalNodeOBBRSS | |
| CMeshShapeConservativeAdvancementTraversalNodeRSS | |
| CMeshShapeDistanceTraversalNode | Traversal node for distance between mesh and shape |
| CMeshShapeDistanceTraversalNodekIOS | |
| CMeshShapeDistanceTraversalNodeOBBRSS | |
| CMeshShapeDistanceTraversalNodeRSS | Traversal node for distance between mesh and shape, when mesh BVH is one of the oriented node (RSS, OBBRSS, kIOS) |
| CModel | |
| CModelConfig | |
| CModelParseError | |
| Cmorton_functor | Functor to compute the morton code for a given AABB |
| Cmorton_functor< boost::dynamic_bitset<> > | Functor to compute n bit morton code for a given AABB |
| Cmorton_functor< FCL_UINT32 > | Functor to compute 30 bit morton code for a given AABB |
| Cmorton_functor< FCL_UINT64 > | Functor to compute 60 bit morton code for a given AABB |
| CMotionBase | |
| CNaiveCollisionManager | Brute force N-body collision manager |
| CNearestNeighbors | Abstract representation of a container that can perform nearest neighbors queries |
| ►CNearestNeighborsGNAT | Geometric Near-neighbor Access Tree (GNAT), a data structure for nearest neighbor search |
| CNode | The class used internally to define the GNAT |
| CNearestNeighborsLinear | A nearest neighbors datastructure that uses linear search |
| CNearestNeighborsSqrtApprox | A nearest neighbors datastructure that uses linear search |
| CNodeBase | Dynamic AABB tree node |
| COBB | Oriented bounding box class |
| COBBRSS | Class merging the OBB and RSS, can handle collision and distance simultaneously |
| COcTree | Octree is one type of collision geometry which can encode uncertainty information in the sensor data |
| COcTreeCollisionTraversalNode | Traversal node for octree collision |
| COcTreeDistanceTraversalNode | Traversal node for octree distance |
| COcTreeMeshCollisionTraversalNode | Traversal node for octree-mesh collision |
| COcTreeMeshDistanceTraversalNode | Traversal node for octree-mesh distance |
| COcTreeShapeCollisionTraversalNode | Traversal node for octree-shape collision |
| COcTreeShapeDistanceTraversalNode | Traversal node for octree-shape distance |
| COcTreeSolver | Algorithms for collision related with octree |
| CPenetrationDepthRequest | |
| CPenetrationDepthResult | |
| CPlane | Infinite plane |
| CPolySolver | A class solves polynomial degree (1,2,3) equations |
| CPredictResult | |
| CPrismaticJoint | |
| ►CProject | Project functions |
| CProjectResult | |
| CQuaternion3f | Quaternion used locally by InterpMotion |
| CRevoluteJoint | |
| CRNG | Random number generation |
| CRSS | A class for rectangle sphere-swept bounding volume |
| CSamplerBase | |
| CSamplerR | |
| CSamplerSE2 | |
| CSamplerSE2_disk | |
| CSamplerSE3Euler | |
| CSamplerSE3Euler_ball | |
| CSamplerSE3Quat | |
| CSamplerSE3Quat_ball | |
| ►CSaPCollisionManager | Rigorous SAP collision manager |
| CEndPoint | End point for an interval |
| CisNotValidPair | Functor to help remove collision pairs no longer valid (i.e., should be culled away) |
| CisUnregistered | Functor to help unregister one object |
| CSaPAABB | SAP interval for one object |
| CSaPPair | A pair of objects that are not culling away and should further check collision |
| CScaler | |
| CScrewMotion | |
| CShapeBase | Base class for all basic geometric shapes |
| CShapeBVHCollisionTraversalNode | Traversal node for collision between shape and BVH |
| CShapeBVHDistanceTraversalNode | Traversal node for distance computation between shape and BVH |
| CShapeCollisionTraversalNode | Traversal node for collision between two shapes |
| CShapeConservativeAdvancementTraversalNode | |
| CShapeDistanceTraversalNode | Traversal node for distance between two shapes |
| CShapeMeshCollisionTraversalNode | Traversal node for collision between shape and mesh |
| CShapeMeshCollisionTraversalNodekIOS | |
| CShapeMeshCollisionTraversalNodeOBB | Traversal node for shape and mesh, when mesh BVH is one of the oriented node (OBB, RSS, OBBRSS, kIOS) |
| CShapeMeshCollisionTraversalNodeOBBRSS | |
| CShapeMeshCollisionTraversalNodeRSS | |
| CShapeMeshConservativeAdvancementTraversalNode | |
| CShapeMeshConservativeAdvancementTraversalNodeOBBRSS | |
| CShapeMeshConservativeAdvancementTraversalNodeRSS | |
| CShapeMeshDistanceTraversalNode | Traversal node for distance between shape and mesh |
| CShapeMeshDistanceTraversalNodekIOS | |
| CShapeMeshDistanceTraversalNodeOBBRSS | |
| CShapeMeshDistanceTraversalNodeRSS | |
| CShapeOcTreeCollisionTraversalNode | Traversal node for shape-octree collision |
| CShapeOcTreeDistanceTraversalNode | Traversal node for shape-octree distance |
| CSimpleHashTable | A simple hash table implemented as multiple buckets. HashFnc is any extended hash function: HashFnc(key) = {index1, index2, ..., } |
| CSimpleInterval | Interval trees implemented using red-black-trees as described in the book Introduction_To_Algorithms_ by Cormen, Leisserson, and Rivest |
| CSparseHashTable | A hash table implemented using unordered_map |
| CSpatialHash | Spatial hash function: hash an AABB to a set of integer values |
| CSpatialHashingCollisionManager | Spatial hashing collision mananger |
| CSphere | Center at zero point sphere |
| CSplineMotion | |
| CSSaPCollisionManager | Simple SAP collision manager |
| CSVMClassifier | |
| CTaylorModel | TaylorModel implements a third order Taylor model, i.e., a cubic approximation of a function over a time interval, with an interval remainder |
| CTBVMotionBoundVisitor | |
| CTimeInterval | |
| CTMatrix3 | |
| CTransform3f | Simple transform class used locally by InterpMotion |
| CTranslationMotion | |
| CTraversalNodeBase | Node structure encoding the information required for traversal |
| CTriangle | Triangle with 3 indices for points |
| CTriangleDistance | Triangle distance functions |
| CTriangleMotionBoundVisitor | |
| CTriangleP | Triangle stores the points instead of only indices of points |
| CTVector3 | |
| Cunordered_map_hash_table | |
| CVariance3f | Class for variance matrix in 3d |
| CVec3fX | Vector3 class wrapper. The core data is in the template parameter class |
| CVec_n | |
| CVecnf | |
| C_ccd_simplex_t | |
| C_ccd_support_t | |
