Here are the classes, structs, unions and interfaces with brief descriptions:

[detail level 12345]

▼Nhpp	Main namespace
▼Nfcl
▼Ndetails
CContactPoint
▼CEPA	Class for EPA algorithm
CSimplexF
CSimplexHorizon
CSimplexList
▼CGJK	Class for GJK algorithm
CSimplex
CSimplexV
CMinkowskiDiff	Minkowski difference class of two shapes
▼Ninternal
CLoader
CTriangleAndVertices
▼Ntools
▼CProfiler	This is a simple thread-safe tool for counting time spent in various chunks of code. This is different from external profiling tools in that it allows the user to count time spent in various bits of code (sub-function granularity) or count how many times certain pieces of code are executed
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. If the profiler was already started, this block's constructor and destructor take no action
CAABB	A class describing the AABB collision structure, which is a box in 3D space determined by two diagonal points
CBox	Center at zero point, axis aligned box
CBVFitter	The class for the default algorithm fitting a bounding volume to a set of points
CBVFitter< AABB >	Specification of BVFitter for AABB bounding volume
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
CBVFitterTpl	The class for the default algorithm fitting a bounding volume to a set of points
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. The front list reflects the subset of a BVTT that is traversed for that particular proximity query
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)
CBVHModelBase	A base class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh)
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
▼CCachedMeshLoader
CKey
CCapsule	Capsule It is ${ x \in \mathcal{R}^3, d(x, AB) < radius }$ where is the distance between the point x and the capsule segment AB, with
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
CCone	Cone The base of the cone is at and the top is at
CContact	Contact information returned by collision
CConvex	Convex polytope
▼CConvexBase	Base for convex polytope
CNeighbors
CCylinder	Cylinder along Z axis. The cylinder is defined at its centroid
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
CGJKSolver	Collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the GJK in bullet)
CHalfspace	Half Space: this is equivalent to the Plane in ODE. The separation plane is defined as n * x = d; Points in the negative side of the separation plane (i.e. {x \| n * x < d}) are inside the half space and points in the positive side of the separation plane (i.e. {x \| n * x > d}) are outside the half space
CKDOP	KDOP class describes the KDOP collision structures. K is set as the template parameter, which should be 16, 18, or 24 The KDOP structure is defined by some pairs of parallel planes defined by some axes. For K = 16, the planes are 6 AABB planes and 10 diagonal planes that cut off some space of the edges: (-1,0,0) and (1,0,0) -> indices 0 and 8 (0,-1,0) and (0,1,0) -> indices 1 and 9 (0,0,-1) and (0,0,1) -> indices 2 and 10 (-1,-1,0) and (1,1,0) -> indices 3 and 11 (-1,0,-1) and (1,0,1) -> indices 4 and 12 (0,-1,-1) and (0,1,1) -> indices 5 and 13 (-1,1,0) and (1,-1,0) -> indices 6 and 14 (-1,0,1) and (1,0,-1) -> indices 7 and 15 For K = 18, the planes are 6 AABB planes and 12 diagonal planes that cut off some space of the edges: (-1,0,0) and (1,0,0) -> indices 0 and 9 (0,-1,0) and (0,1,0) -> indices 1 and 10 (0,0,-1) and (0,0,1) -> indices 2 and 11 (-1,-1,0) and (1,1,0) -> indices 3 and 12 (-1,0,-1) and (1,0,1) -> indices 4 and 13 (0,-1,-1) and (0,1,1) -> indices 5 and 14 (-1,1,0) and (1,-1,0) -> indices 6 and 15 (-1,0,1) and (1,0,-1) -> indices 7 and 16 (0,-1,1) and (0,1,-1) -> indices 8 and 17 For K = 18, the planes are 6 AABB planes and 18 diagonal planes that cut off some space of the edges: (-1,0,0) and (1,0,0) -> indices 0 and 12 (0,-1,0) and (0,1,0) -> indices 1 and 13 (0,0,-1) and (0,0,1) -> indices 2 and 14 (-1,-1,0) and (1,1,0) -> indices 3 and 15 (-1,0,-1) and (1,0,1) -> indices 4 and 16 (0,-1,-1) and (0,1,1) -> indices 5 and 17 (-1,1,0) and (1,-1,0) -> indices 6 and 18 (-1,0,1) and (1,0,-1) -> indices 7 and 19 (0,-1,1) and (0,1,-1) -> indices 8 and 20 (-1, -1, 1) and (1, 1, -1) –> indices 9 and 21 (-1, 1, -1) and (1, -1, 1) –> indices 10 and 22 (1, -1, -1) and (-1, 1, 1) –> indices 11 and 23
CkIOS	A class describing the kIOS collision structure, which is a set of spheres
CMeshLoader
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
CPlane	Infinite plane
CRSS	A class for rectangle sphere-swept bounding volume
CShapeBase	Base class for all basic geometric shapes
CSphere	Center at zero point sphere
CTransform3f	Simple transform class used locally by InterpMotion
CTraversalTraitsCollision
CTraversalTraitsDistance
CTriangle	Triangle with 3 indices for points
CTriangleP	Triangle stores the points instead of only indices of points
CMeshShapeDistanceTraversalNodekIOS
CMeshShapeDistanceTraversalNodeOBBRSS
CMeshShapeDistanceTraversalNodeRSS	Traversal node for distance between mesh and shape, when mesh BVH is one of the oriented node (RSS, kIOS, OBBRSS)
CShapeMeshDistanceTraversalNode	Traversal node for distance between shape and mesh
CShapeMeshDistanceTraversalNodekIOS
CShapeMeshDistanceTraversalNodeOBBRSS
CShapeMeshDistanceTraversalNodeRSS	Traversal node for distance between shape and mesh, when mesh BVH is one of the oriented node (RSS, kIOS, OBBRSS)