hpp-fcl  1.4.4
HPP fork of FCL -- The Flexible Collision Library
details.h File Reference
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Classes

struct  hpp::fcl::details::ContactPoint
 

Namespaces

 hpp
 Main namespace.
 
 hpp::fcl
 
 hpp::fcl::details
 

Functions

bool hpp::fcl::details::sphereCapsuleIntersect (const Sphere &s1, const Transform3f &tf1, const Capsule &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f *contact_points, 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, FCL_REAL &distance, Vec3f *contact_points, 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)
 
int hpp::fcl::details::boxBox2 (const Vec3f &halfSide1, const Matrix3f &R1, const Vec3f &T1, const Vec3f &halfSide2, 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 >
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 ConvexBase &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. ray origin is p and direction is d 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)
 
template<typename 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. 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. 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)
 
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 ConvexBase &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, Vec3f &normal)
 See the prototype below. More...
 
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)