gjk.h File Reference

#include <hpp/fcl/shape/geometric_shapes.h>
#include <hpp/fcl/math/transform.h>

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Classes
struct	hpp::fcl::details::MinkowskiDiff
	Minkowski difference class of two shapes. More...
struct	hpp::fcl::details::GJK
	class for GJK algorithm More...
struct	hpp::fcl::details::GJK::SimplexV
struct	hpp::fcl::details::GJK::Simplex
struct	hpp::fcl::details::EPA
	class for EPA algorithm More...

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
Vec3f	hpp::fcl::details::getSupport (const ShapeBase *shape, const Vec3f &dir)
	the support function for shape More...

Variables
static const size_t	hpp::fcl::details::EPA_MAX_FACES = 128
static const size_t	hpp::fcl::details::EPA_MAX_VERTICES = 64
static const FCL_REAL	hpp::fcl::details::EPA_EPS = 0.000001
static const size_t	hpp::fcl::details::EPA_MAX_ITERATIONS = 255