hpp::fcl::details::GJK Struct Reference

class for GJK algorithm More...

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

Collaboration diagram for hpp::fcl::details::GJK:

Classes
struct	Simplex
struct	SimplexV

Public Types
enum	Status {   Valid,   Inside,   Failed }

Public Member Functions
	GJK (unsigned int max_iterations_, FCL_REAL tolerance_)
void	initialize ()
Status	evaluate (const MinkowskiDiff &shape_, const Vec3f &guess)
	GJK algorithm, given the initial value guess. More...
void	getSupport (const Vec3f &d, SimplexV &sv) const
	apply the support function along a direction, the result is return in sv More...
void	removeVertex (Simplex &simplex)
	discard one vertex from the simplex More...
void	appendVertex (Simplex &simplex, const Vec3f &v)
	append one vertex to the simplex More...
bool	encloseOrigin ()
	whether the simplex enclose the origin More...
Simplex *	getSimplex () const
	get the underlying simplex using in GJK, can be used for cache in next iteration More...
Vec3f	getGuessFromSimplex () const
	get the guess from current simplex More...

Public Attributes
MinkowskiDiff	shape
Vec3f	ray
FCL_REAL	distance
Simplex	simplices [2]

Detailed Description

class for GJK algorithm

Note

The computations are performed in the frame of the first shape.

Member Enumeration Documentation

enum hpp::fcl::details::GJK::Status

Enumerator
Valid
Inside
Failed

Constructor & Destructor Documentation

hpp::fcl::details::GJK::GJK ( unsigned int  max_iterations_, FCL_REAL  tolerance_  )

inline

References hpp::fcl::details::getSupport(), and hpp::fcl::initialize().

Member Function Documentation

void hpp::fcl::details::GJK::appendVertex	(	Simplex &	simplex,
		const Vec3f &	v
	)

append one vertex to the simplex

bool hpp::fcl::details::GJK::encloseOrigin

(

)

whether the simplex enclose the origin

Status hpp::fcl::details::GJK::evaluate	(	const MinkowskiDiff &	shape_,
		const Vec3f &	guess
	)

GJK algorithm, given the initial value guess.

Referenced by hpp::fcl::GJKSolver_indep::shapeDistance(), hpp::fcl::GJKSolver_indep::shapeIntersect(), and hpp::fcl::GJKSolver_indep::shapeTriangleInteraction().

Vec3f hpp::fcl::details::GJK::getGuessFromSimplex

(

)

const

get the guess from current simplex

Referenced by hpp::fcl::GJKSolver_indep::shapeDistance(), hpp::fcl::GJKSolver_indep::shapeIntersect(), and hpp::fcl::GJKSolver_indep::shapeTriangleInteraction().

Simplex* hpp::fcl::details::GJK::getSimplex ( ) const

inline

get the underlying simplex using in GJK, can be used for cache in next iteration

Referenced by hpp::fcl::GJKSolver_indep::shapeDistance(), and hpp::fcl::GJKSolver_indep::shapeTriangleInteraction().

void hpp::fcl::details::GJK::getSupport	(	const Vec3f &	d,
		SimplexV &	sv
	)		const

apply the support function along a direction, the result is return in sv

void hpp::fcl::details::GJK::initialize

(

)

void hpp::fcl::details::GJK::removeVertex

(

Simplex &

simplex

)

discard one vertex from the simplex

Member Data Documentation

FCL_REAL hpp::fcl::details::GJK::distance

Vec3f hpp::fcl::details::GJK::ray

MinkowskiDiff hpp::fcl::details::GJK::shape

Simplex hpp::fcl::details::GJK::simplices[2]