details.h File Reference

#include <hpp/fcl/collision_node.h>
#include <hpp/fcl/traversal/traversal_node_setup.h>
#include <hpp/fcl/narrowphase/narrowphase.h>

Include dependency graph for details.h:

Classes
struct	hpp::fcl::details::ContactPoint

Namespaces
	hpp
	Main namespace.
	hpp::fcl
	hpp::fcl::details
	for OBB and RSS, there is local coordinate of BV, so normal need to be transformed

Functions
static void	hpp::fcl::details::lineSegmentPointClosestToPoint (const Vec3f &p, const Vec3f &s1, const Vec3f &s2, Vec3f &sp)
bool	hpp::fcl::details::sphereCapsuleIntersect (const Sphere &s1, const Transform3f &tf1, const Capsule &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal_)
bool	hpp::fcl::details::sphereCapsuleDistance (const Sphere &s1, const Transform3f &tf1, const Capsule &s2, const Transform3f &tf2, FCL_REAL &dist, Vec3f &p1, Vec3f &p2, Vec3f &normal)
bool	hpp::fcl::details::sphereCylinderDistance (const Sphere &s1, const Transform3f &tf1, const Cylinder &s2, const Transform3f &tf2, FCL_REAL &dist, Vec3f &p1, Vec3f &p2, Vec3f &normal)
bool	hpp::fcl::details::sphereSphereIntersect (const Sphere &s1, const Transform3f &tf1, const Sphere &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal)
bool	hpp::fcl::details::sphereSphereDistance (const Sphere &s1, const Transform3f &tf1, const Sphere &s2, const Transform3f &tf2, FCL_REAL &dist, Vec3f &p1, Vec3f &p2, Vec3f &normal)
FCL_REAL	hpp::fcl::details::segmentSqrDistance (const Vec3f &from, const Vec3f &to, const Vec3f &p, Vec3f &nearest)
	the minimum distance from a point to a line More...
bool	hpp::fcl::details::projectInTriangle (const Vec3f &p1, const Vec3f &p2, const Vec3f &p3, const Vec3f &normal, const Vec3f &p)
	Whether a point's projection is in a triangle. More...
bool	hpp::fcl::details::sphereTriangleIntersect (const Sphere &s, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal_)
bool	hpp::fcl::details::sphereTriangleDistance (const Sphere &sp, const Transform3f &tf, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, FCL_REAL *dist)
bool	hpp::fcl::details::sphereTriangleDistance (const Sphere &sp, const Transform3f &tf, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, FCL_REAL *dist, Vec3f *p1, Vec3f *p2)
bool	hpp::fcl::details::sphereTriangleDistance (const Sphere &sp, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf2, FCL_REAL *dist, Vec3f *p1, Vec3f *p2)
static void	hpp::fcl::details::lineClosestApproach (const Vec3f &pa, const Vec3f &ua, const Vec3f &pb, const Vec3f &ub, FCL_REAL *alpha, FCL_REAL *beta)
static int	hpp::fcl::details::intersectRectQuad2 (FCL_REAL h[2], FCL_REAL p[8], FCL_REAL ret[16])
static void	hpp::fcl::details::cullPoints2 (int n, FCL_REAL p[], int m, int i0, int iret[])
int	hpp::fcl::details::boxBox2 (const Vec3f &side1, const Matrix3f &R1, const Vec3f &T1, const Vec3f &side2, const Matrix3f &R2, const Vec3f &T2, Vec3f &normal, FCL_REAL *depth, int *return_code, int maxc, std::vector< ContactPoint > &contacts)
bool	hpp::fcl::details::compareContactPoints (const ContactPoint &c1, const ContactPoint &c2)
bool	hpp::fcl::details::boxBoxIntersect (const Box &s1, const Transform3f &tf1, const Box &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth_, Vec3f *normal_)
template<typename T >
T	hpp::fcl::details::halfspaceIntersectTolerance ()
template<>
float	hpp::fcl::details::halfspaceIntersectTolerance ()
template<>
double	hpp::fcl::details::halfspaceIntersectTolerance ()
bool	hpp::fcl::details::sphereHalfspaceIntersect (const Sphere &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)
bool	hpp::fcl::details::boxHalfspaceIntersect (const Box &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2)
	box half space, a, b, c = +/- edge size n^T * (R(o + a v1 + b v2 + c v3) + T) <= d so (R^T n) (a v1 + b v2 + c v3) + n * T <= d check whether d - n * T - (R^T n) (a v1 + b v2 + c v3) >= 0 for some a, b, c the max value of left side is d - n * T + |(R^T n) (a v1 + b v2 + c v3)|, check that is enough More...
bool	hpp::fcl::details::boxHalfspaceIntersect (const Box &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)
bool	hpp::fcl::details::capsuleHalfspaceIntersect (const Capsule &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)
bool	hpp::fcl::details::cylinderHalfspaceIntersect (const Cylinder &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)
bool	hpp::fcl::details::coneHalfspaceIntersect (const Cone &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)
bool	hpp::fcl::details::convexHalfspaceIntersect (const Convex &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal)
bool	hpp::fcl::details::halfspaceTriangleIntersect (const Halfspace &s1, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)
bool	hpp::fcl::details::planeHalfspaceIntersect (const Plane &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, Plane &pl, Vec3f &p, Vec3f &d, FCL_REAL &penetration_depth, int &ret)
	return whether plane collides with halfspace if the separation plane of the halfspace is parallel with the plane return code 1, if the plane's normal is the same with halfspace's normal and plane is inside halfspace, also return plane in pl return code 2, if the plane's normal is oppositie to the halfspace's normal and plane is inside halfspace, also return plane in pl plane is outside halfspace, collision-free if not parallel return the intersection ray, return code 3. More...
bool	hpp::fcl::details::halfspaceIntersect (const Halfspace &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, Vec3f &p, Vec3f &d, Halfspace &s, FCL_REAL &penetration_depth, int &ret)
	@ brief return whether two halfspace intersect if the separation planes of the two halfspaces are parallel return code 1, if two halfspaces' normal are same and s1 is in s2, also return s1 in s; return code 2, if two halfspaces' normal are same and s2 is in s1, also return s2 in s; return code 3, if two halfspaces' normal are opposite and s1 and s2 are into each other; collision free, if two halfspaces' are separate; if the separation planes of the two halfspaces are not parallel, return intersection ray, return code 4. More...
template<typename T >
T	hpp::fcl::details::planeIntersectTolerance ()
template<>
double	hpp::fcl::details::planeIntersectTolerance< double > ()
template<>
float	hpp::fcl::details::planeIntersectTolerance< float > ()
bool	hpp::fcl::details::spherePlaneIntersect (const Sphere &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)
bool	hpp::fcl::details::boxPlaneIntersect (const Box &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)
	box half space, a, b, c = +/- edge size n^T * (R(o + a v1 + b v2 + c v3) + T) ~ d so (R^T n) (a v1 + b v2 + c v3) + n * T ~ d check whether d - n * T - (R^T n) (a v1 + b v2 + c v3) >= 0 for some a, b, c and <=0 for some a, b, c so need to check whether |d - n * T| <= |(R^T n)(a v1 + b v2 + c v3)|, the reason is as follows: (R^T n) (a v1 + b v2 + c v3) can get |(R^T n) (a v1 + b v2 + c v3)| for one a, b, c. More...
bool	hpp::fcl::details::boxSphereDistance (const Box &b, const Transform3f &tfb, const Sphere &s, const Transform3f &tfs, FCL_REAL &dist, Vec3f &pb, Vec3f &ps, Vec3f &normal)
	Taken from book Real Time Collision Detection, from Christer Ericson. More...
bool	hpp::fcl::details::capsulePlaneIntersect (const Capsule &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)
bool	hpp::fcl::details::cylinderPlaneIntersect (const Cylinder &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)
	cylinder-plane intersect n^T (R (r * cosa * v1 + r * sina * v2 + h * v3) + T) ~ d need one point to be positive and one to be negative (n^T * v3) * h + n * T -d + r * (cosa * (n^T * R * v1) + sina * (n^T * R * v2)) ~ 0 (n^T * v3) * h + r * (cosa * (n^T * R * v1) + sina * (n^T * R * v2)) + n * T - d ~ 0 More...
bool	hpp::fcl::details::conePlaneIntersect (const Cone &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)
bool	hpp::fcl::details::convexPlaneIntersect (const Convex &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal)
bool	hpp::fcl::details::planeTriangleIntersect (const Plane &s1, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)
bool	hpp::fcl::details::halfspacePlaneIntersect (const Halfspace &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, Plane &pl, Vec3f &p, Vec3f &d, FCL_REAL &penetration_depth, int &ret)
bool	hpp::fcl::details::planeIntersect (const Plane &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, Vec3f *, FCL_REAL *, Vec3f *)
FCL_REAL	hpp::fcl::details::computePenetration (const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Vec3f &Q1, const Vec3f &Q2, const Vec3f &Q3, const Transform3f &tf1, const Transform3f &tf2, Vec3f &normal)