for OBB and RSS, there is local coordinate of BV, so normal need to be transformed More...

Classes
struct	ContactPoint

struct	DistanceTraversalBVTesting_impl

struct	DistanceTraversalBVTesting_impl< OBB >

struct	EPA
	class for EPA algorithm More...

struct	GJK
	class for GJK algorithm More...

struct	MinkowskiDiff
	Minkowski difference class of two shapes. More...

struct	RelativeTransformation

struct	RelativeTransformation< false >

Functions
Vec3f	getSupport (const ShapeBase *shape, const Vec3f &dir)
	the support function for shape More...

template<typename BV >
const Matrix3f &	getBVAxes (const BV &bv)

template<>
const Matrix3f &	getBVAxes< OBBRSS > (const OBBRSS &bv)

template<typename S , typename BV , typename NarrowPhaseSolver , template< typename, typename > class OrientedNode>
static bool	setupShapeMeshDistanceOrientedNode (OrientedNode< S, NarrowPhaseSolver > &node, const S &model1, const Transform3f &tf1, const BVHModel< BV > &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest &request, DistanceResult &result)

static void	lineSegmentPointClosestToPoint (const Vec3f &p, const Vec3f &s1, const Vec3f &s2, Vec3f &sp)

bool	sphereCapsuleIntersect (const Sphere &s1, const Transform3f &tf1, const Capsule &s2, const Transform3f &tf2, Vec3f contact_points, FCL_REAL penetration_depth, Vec3f *normal_)

bool	sphereCapsuleDistance (const Sphere &s1, const Transform3f &tf1, const Capsule &s2, const Transform3f &tf2, FCL_REAL &dist, Vec3f &p1, Vec3f &p2, Vec3f &normal)

bool	sphereCylinderDistance (const Sphere &s1, const Transform3f &tf1, const Cylinder &s2, const Transform3f &tf2, FCL_REAL &dist, Vec3f &p1, Vec3f &p2, Vec3f &normal)

bool	sphereSphereIntersect (const Sphere &s1, const Transform3f &tf1, const Sphere &s2, const Transform3f &tf2, Vec3f contact_points, FCL_REAL penetration_depth, Vec3f *normal)

bool	sphereSphereDistance (const Sphere &s1, const Transform3f &tf1, const Sphere &s2, const Transform3f &tf2, FCL_REAL &dist, Vec3f &p1, Vec3f &p2, Vec3f &normal)

FCL_REAL	segmentSqrDistance (const Vec3f &from, const Vec3f &to, const Vec3f &p, Vec3f &nearest)
	the minimum distance from a point to a line More...

bool	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	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	sphereTriangleDistance (const Sphere &sp, const Transform3f &tf, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, FCL_REAL *dist)

bool	sphereTriangleDistance (const Sphere &sp, const Transform3f &tf, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, FCL_REAL dist, Vec3f p1, Vec3f *p2)

bool	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	lineClosestApproach (const Vec3f &pa, const Vec3f &ua, const Vec3f &pb, const Vec3f &ub, FCL_REAL alpha, FCL_REAL beta)

static int	intersectRectQuad2 (FCL_REAL h[2], FCL_REAL p[8], FCL_REAL ret[16])

static void	cullPoints2 (int n, FCL_REAL p[], int m, int i0, int iret[])

int	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	compareContactPoints (const ContactPoint &c1, const ContactPoint &c2)

bool	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	halfspaceIntersectTolerance ()

template<>
float	halfspaceIntersectTolerance ()

template<>
double	halfspaceIntersectTolerance ()

bool	sphereHalfspaceIntersect (const Sphere &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)

bool	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	boxHalfspaceIntersect (const Box &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)

bool	capsuleHalfspaceIntersect (const Capsule &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)

bool	cylinderHalfspaceIntersect (const Cylinder &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)

bool	coneHalfspaceIntersect (const Cone &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)

bool	convexHalfspaceIntersect (const Convex &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, Vec3f contact_points, FCL_REAL penetration_depth, Vec3f *normal)

bool	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	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	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	planeIntersectTolerance ()

template<>
double	planeIntersectTolerance< double > ()

template<>
float	planeIntersectTolerance< float > ()

bool	spherePlaneIntersect (const Sphere &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)

bool	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	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	capsulePlaneIntersect (const Capsule &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)

bool	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	conePlaneIntersect (const Cone &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)

bool	convexPlaneIntersect (const Convex &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, Vec3f contact_points, FCL_REAL penetration_depth, Vec3f *normal)

bool	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	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	planeIntersect (const Plane &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, Vec3f , FCL_REAL , Vec3f *)

FCL_REAL	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)

Variables
static const size_t	EPA_MAX_FACES = 128

static const size_t	EPA_MAX_VERTICES = 64

static const FCL_REAL	EPA_EPS = 0.000001

static const size_t	EPA_MAX_ITERATIONS = 255

Detailed Description

for OBB and RSS, there is local coordinate of BV, so normal need to be transformed

Function Documentation

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
	)

inline

References compareContactPoints(), hpp::fcl::details::ContactPoint::ContactPoint(), cullPoints2(), intersectRectQuad2(), lineClosestApproach(), and hpp::fcl::details::ContactPoint::normal.

Referenced by boxBoxIntersect().

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_
	)

inline

References boxBox2(), compareContactPoints(), hpp::fcl::details::ContactPoint::depth, hpp::fcl::Transform3f::getRotation(), hpp::fcl::Transform3f::getTranslation(), hpp::fcl::details::ContactPoint::normal, and hpp::fcl::Box::side.

bool hpp::fcl::details::boxHalfspaceIntersect	(	const Box &	s1,
		const Transform3f &	tf1,
		const Halfspace &	s2,
		const Transform3f &	tf2
	)

inline

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

References hpp::fcl::details::ContactPoint::depth, hpp::fcl::Transform3f::getRotation(), hpp::fcl::Transform3f::getTranslation(), hpp::fcl::Halfspace::n, hpp::fcl::Box::side, hpp::fcl::Halfspace::signedDistance(), and hpp::fcl::transform().

Referenced by sphereHalfspaceIntersect().

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
	)

inline

find deepest point

compute the contact point from the deepest point

References capsuleHalfspaceIntersect(), hpp::fcl::Transform3f::getRotation(), hpp::fcl::Transform3f::getTranslation(), hpp::fcl::Halfspace::n, hpp::fcl::Box::side, hpp::fcl::Halfspace::signedDistance(), and hpp::fcl::transform().

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
	)

inline

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.

if |d - n * T| <= |(R^T n)(a v1 + b v2 + c v3)| then can get both positive and negative value on the right side.

References hpp::fcl::Plane::distance(), hpp::fcl::Transform3f::getRotation(), hpp::fcl::Transform3f::getTranslation(), hpp::fcl::Plane::n, hpp::fcl::Box::side, hpp::fcl::Plane::signedDistance(), and hpp::fcl::transform().

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
	)

inline

Taken from book Real Time Collision Detection, from Christer Ericson.

Parameters

pb	the closest point to the sphere center on the box surface
ps	when colliding, matches pb, which is inside the sphere. when not colliding, the closest point on the sphere
normal	direction of motion of the box

Returns: true if the distance is negative (the shape overlaps).

References capsulePlaneIntersect(), hpp::fcl::Transform3f::getRotation(), hpp::fcl::Transform3f::getTranslation(), hpp::fcl::details::ContactPoint::normal, hpp::fcl::Sphere::radius, and hpp::fcl::Box::side.

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
	)

inline

References cylinderHalfspaceIntersect(), hpp::fcl::distance(), hpp::fcl::Transform3f::getRotation(), hpp::fcl::Transform3f::getTranslation(), hpp::fcl::Capsule::lz, hpp::fcl::Halfspace::n, hpp::fcl::Capsule::radius, hpp::fcl::Halfspace::signedDistance(), and hpp::fcl::transform().

Referenced by boxHalfspaceIntersect().

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
	)

inline

References cylinderPlaneIntersect(), hpp::fcl::Transform3f::getRotation(), hpp::fcl::Transform3f::getTranslation(), hpp::fcl::Capsule::lz, hpp::fcl::Plane::n, hpp::fcl::details::ContactPoint::normal, hpp::fcl::Capsule::radius, hpp::fcl::Plane::signedDistance(), and hpp::fcl::transform().

Referenced by boxSphereDistance().

bool hpp::fcl::details::compareContactPoints	(	const ContactPoint &	c1,
		const ContactPoint &	c2
	)

inline

References hpp::fcl::details::ContactPoint::depth.

Referenced by boxBox2(), and boxBoxIntersect().

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
	)

inline

References hpp::fcl::details::ContactPoint::depth, and hpp::fcl::Transform3f::transform().

Referenced by planeIntersect().

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
	)

inline

References convexHalfspaceIntersect(), hpp::fcl::distance(), hpp::fcl::Transform3f::getRotation(), hpp::fcl::Transform3f::getTranslation(), hpp::fcl::Cone::lz, hpp::fcl::Halfspace::n, hpp::fcl::Cone::radius, hpp::fcl::Halfspace::signedDistance(), and hpp::fcl::transform().

Referenced by cylinderHalfspaceIntersect().

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
	)

inline

References convexPlaneIntersect(), hpp::fcl::Transform3f::getRotation(), hpp::fcl::Transform3f::getTranslation(), hpp::fcl::Cone::lz, hpp::fcl::Plane::n, hpp::fcl::Cone::radius, hpp::fcl::Plane::signedDistance(), and hpp::fcl::transform().

Referenced by cylinderPlaneIntersect().

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
	)

inline

References hpp::fcl::details::ContactPoint::depth, halfspaceTriangleIntersect(), hpp::fcl::Halfspace::n, hpp::fcl::Convex::num_points, hpp::fcl::Convex::points, hpp::fcl::Halfspace::signedDistance(), hpp::fcl::transform(), and hpp::fcl::Transform3f::transform().

Referenced by coneHalfspaceIntersect().

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
	)

inline

References hpp::fcl::Plane::n, hpp::fcl::Convex::num_points, planeTriangleIntersect(), hpp::fcl::Convex::points, hpp::fcl::Plane::signedDistance(), hpp::fcl::transform(), and hpp::fcl::Transform3f::transform().

Referenced by conePlaneIntersect().

static void hpp::fcl::details::cullPoints2	(	int	n,
		FCL_REAL	p[],
		int	m,
		int	i0,
		int	iret[]
	)

inlinestatic

Referenced by boxBox2().

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
	)

inline

References coneHalfspaceIntersect(), hpp::fcl::distance(), hpp::fcl::Transform3f::getRotation(), hpp::fcl::Transform3f::getTranslation(), hpp::fcl::Cylinder::lz, hpp::fcl::Halfspace::n, hpp::fcl::Cylinder::radius, hpp::fcl::Halfspace::signedDistance(), and hpp::fcl::transform().

Referenced by capsuleHalfspaceIntersect().

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
	)

inline

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

References conePlaneIntersect(), hpp::fcl::Transform3f::getRotation(), hpp::fcl::Transform3f::getTranslation(), hpp::fcl::Cylinder::lz, hpp::fcl::Plane::n, hpp::fcl::Cylinder::radius, hpp::fcl::Plane::signedDistance(), and hpp::fcl::transform().

Referenced by capsulePlaneIntersect().

template<typename BV >

const Matrix3f& hpp::fcl::details::getBVAxes ( const BV & bv )

inline

template<>

const Matrix3f& hpp::fcl::details::getBVAxes< OBBRSS > ( const OBBRSS & bv )

inline

Vec3f hpp::fcl::details::getSupport	(	const ShapeBase *	shape,
		const Vec3f &	dir
	)

the support function for shape

Referenced by hpp::fcl::details::GJK::GJK(), hpp::fcl::details::MinkowskiDiff::support0(), and hpp::fcl::details::MinkowskiDiff::support1().

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
	)

inline

@ 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.

ray origin is p and direction is d collision free return code 0

References hpp::fcl::Halfspace::d, hpp::fcl::Halfspace::n, and hpp::fcl::transform().

template<typename T >

T hpp::fcl::details::halfspaceIntersectTolerance ( )

inline

template<>

float hpp::fcl::details::halfspaceIntersectTolerance ( )

inline

template<>

double hpp::fcl::details::halfspaceIntersectTolerance ( )

inline

References sphereHalfspaceIntersect().

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
	)

inline

References planeHalfspaceIntersect(), and planeIntersect().

Referenced by planeTriangleIntersect().

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
	)

inline

References hpp::fcl::details::ContactPoint::depth, hpp::fcl::Halfspace::n, planeHalfspaceIntersect(), hpp::fcl::Halfspace::signedDistance(), hpp::fcl::transform(), and hpp::fcl::Transform3f::transform().

Referenced by convexHalfspaceIntersect().

static int hpp::fcl::details::intersectRectQuad2	(	FCL_REAL	h[2],
		FCL_REAL	p[8],
		FCL_REAL	ret[16]
	)

static

Referenced by boxBox2().

static void hpp::fcl::details::lineClosestApproach	(	const Vec3f &	pa,
		const Vec3f &	ua,
		const Vec3f &	pb,
		const Vec3f &	ub,
		FCL_REAL *	alpha,
		FCL_REAL *	beta
	)

inlinestatic

Referenced by boxBox2().

static void hpp::fcl::details::lineSegmentPointClosestToPoint	(	const Vec3f &	p,
		const Vec3f &	s1,
		const Vec3f &	s2,
		Vec3f &	sp
	)

inlinestatic

References sphereCapsuleIntersect().

Referenced by sphereCapsuleDistance(), and sphereCapsuleIntersect().

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
	)

inline

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.

ray origin is p and direction is d

References hpp::fcl::Halfspace::d, hpp::fcl::Plane::d, hpp::fcl::Halfspace::n, hpp::fcl::Plane::n, and hpp::fcl::transform().

Referenced by halfspacePlaneIntersect(), and halfspaceTriangleIntersect().

bool hpp::fcl::details::planeIntersect	(	const Plane &	s1,
		const Transform3f &	tf1,
		const Plane &	s2,
		const Transform3f &	tf2,
		Vec3f *	,
		FCL_REAL *	,
		Vec3f *
	)

inline

References computePenetration(), hpp::fcl::Plane::d, hpp::fcl::Plane::n, and hpp::fcl::transform().

Referenced by halfspacePlaneIntersect().

template<typename T >

T hpp::fcl::details::planeIntersectTolerance ( )

inline

template<>

double hpp::fcl::details::planeIntersectTolerance< double > ( )

inline

template<>

float hpp::fcl::details::planeIntersectTolerance< float > ( )

inline

References spherePlaneIntersect().

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
	)

inline

References halfspacePlaneIntersect(), hpp::fcl::Plane::n, hpp::fcl::Plane::signedDistance(), hpp::fcl::transform(), and hpp::fcl::Transform3f::transform().

Referenced by convexPlaneIntersect().

bool hpp::fcl::details::projectInTriangle	(	const Vec3f &	p1,
		const Vec3f &	p2,
		const Vec3f &	p3,
		const Vec3f &	normal,
		const Vec3f &	p
	)

inline

Whether a point's projection is in a triangle.

References sphereTriangleIntersect().

Referenced by sphereTriangleIntersect().

FCL_REAL hpp::fcl::details::segmentSqrDistance	(	const Vec3f &	from,
		const Vec3f &	to,
		const Vec3f &	p,
		Vec3f &	nearest
	)

inline

the minimum distance from a point to a line

Referenced by sphereSphereDistance(), and sphereTriangleIntersect().

template<typename S , typename BV , typename NarrowPhaseSolver , template< typename, typename > class OrientedNode>

static bool hpp::fcl::details::setupShapeMeshDistanceOrientedNode	(	OrientedNode< S, NarrowPhaseSolver > &	node,
		const S &	model1,
		const Transform3f &	tf1,
		const BVHModel< BV > &	model2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

inlinestatic

References hpp::fcl::BVH_MODEL_TRIANGLES, hpp::fcl::computeBV(), hpp::fcl::BVHModel< BV >::getModelType(), hpp::fcl::Transform3f::getRotation(), hpp::fcl::Transform3f::getTranslation(), hpp::fcl::BVHModel< BV >::tri_indices, and hpp::fcl::BVHModel< BV >::vertices.

Referenced by hpp::fcl::initialize().

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
	)

inline

References hpp::fcl::Transform3f::getTranslation(), hpp::fcl::Transform3f::inverse(), lineSegmentPointClosestToPoint(), hpp::fcl::Capsule::lz, hpp::fcl::Sphere::radius, hpp::fcl::Capsule::radius, sphereCylinderDistance(), and hpp::fcl::Transform3f::transform().

Referenced by sphereCapsuleIntersect().

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_
	)

inline

References hpp::fcl::distance(), hpp::fcl::Transform3f::getTranslation(), hpp::fcl::Transform3f::inverse(), lineSegmentPointClosestToPoint(), hpp::fcl::Capsule::lz, hpp::fcl::Sphere::radius, hpp::fcl::Capsule::radius, sphereCapsuleDistance(), and hpp::fcl::Transform3f::transform().

Referenced by lineSegmentPointClosestToPoint().

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
	)

inline

References hpp::fcl::Transform3f::getRotation(), hpp::fcl::Transform3f::getTranslation(), hpp::fcl::Cylinder::lz, hpp::fcl::Sphere::radius, hpp::fcl::Cylinder::radius, sphereSphereIntersect(), and hpp::fcl::Transform3f::transform().

Referenced by sphereCapsuleDistance().

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
	)

inline

References boxHalfspaceIntersect(), hpp::fcl::Transform3f::getTranslation(), hpp::fcl::Halfspace::n, hpp::fcl::Sphere::radius, hpp::fcl::Halfspace::signedDistance(), and hpp::fcl::transform().

Referenced by halfspaceIntersectTolerance().

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
	)

inline

References hpp::fcl::Transform3f::getTranslation(), hpp::fcl::Plane::n, hpp::fcl::Sphere::radius, hpp::fcl::Plane::signedDistance(), and hpp::fcl::transform().

Referenced by planeIntersectTolerance< float >().

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
	)

inline

References hpp::fcl::Transform3f::getTranslation(), hpp::fcl::Sphere::radius, and segmentSqrDistance().

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
	)

inline

References hpp::fcl::Transform3f::getTranslation(), and hpp::fcl::Sphere::radius.

Referenced by sphereCylinderDistance().

bool hpp::fcl::details::sphereTriangleDistance	(	const Sphere &	sp,
		const Transform3f &	tf,
		const Vec3f &	P1,
		const Vec3f &	P2,
		const Vec3f &	P3,
		FCL_REAL *	dist
	)

inline

References hpp::fcl::Transform3f::getTranslation(), and hpp::fcl::Sphere::radius.

Referenced by sphereTriangleDistance(), and sphereTriangleIntersect().

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
	)

inline

References hpp::fcl::Transform3f::getTranslation(), hpp::fcl::Project::ProjectResult::parameterization, hpp::fcl::Project::projectTriangle(), hpp::fcl::Sphere::radius, sphereTriangleDistance(), and hpp::fcl::Project::ProjectResult::sqr_distance.

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
	)

inline

References sphereTriangleDistance(), and hpp::fcl::Transform3f::transform().

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_
	)

inline

References hpp::fcl::Transform3f::getTranslation(), projectInTriangle(), hpp::fcl::Sphere::radius, segmentSqrDistance(), and sphereTriangleDistance().

Referenced by projectInTriangle().

Variable Documentation

const FCL_REAL hpp::fcl::details::EPA_EPS = 0.000001

static

const size_t hpp::fcl::details::EPA_MAX_FACES = 128

static

const size_t hpp::fcl::details::EPA_MAX_ITERATIONS = 255

static

const size_t hpp::fcl::details::EPA_MAX_VERTICES = 64

static

Classes

Functions

Variables

Detailed Description

Function Documentation

Variable Documentation