narrowphase.h File Reference

#include <hpp/fcl/narrowphase/gjk.h>

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Classes
struct	hpp::fcl::GJKSolver
	collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the GJK in bullet) More...

Namespaces
	hpp
	Main namespace.
	hpp::fcl

Shape intersection specializations
#define	HPP_FCL_DECLARE_SHAPE_INTERSECT(Shape1, Shape2, doc)
#define	HPP_FCL_DECLARE_SHAPE_INTERSECT_SELF(Shape, doc)   HPP_FCL_DECLARE_SHAPE_INTERSECT(Shape,Shape,doc)
#define	HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR(Shape1, Shape2, doc)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_SELF (Sphere,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Sphere, Capsule,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Sphere, Halfspace,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Sphere, Plane,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Box, Halfspace,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Box, Plane,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Capsule, Halfspace,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Capsule, Plane,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Cylinder, Halfspace,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Cylinder, Plane,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Cone, Halfspace,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Cone, Plane,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_SELF (Halfspace,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_SELF (Plane,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Plane, Halfspace,)

Shape triangle interaction specializations
#define	HPP_FCL_DECLARE_SHAPE_TRIANGLE(Shape, doc)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_TRIANGLE (Sphere,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_TRIANGLE (Halfspace,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_TRIANGLE (Plane,)

Shape distance specializations
#define	HPP_FCL_DECLARE_SHAPE_DISTANCE(Shape1, Shape2, doc)
#define	HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF(Shape, doc)   HPP_FCL_DECLARE_SHAPE_DISTANCE(Shape,Shape,doc)
#define	HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR(Shape1, Shape2, doc)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR (Sphere, Box,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR (Sphere, Capsule,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR (Sphere, Cylinder,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF (Sphere,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF (Capsule,)
	hpp::fcl::HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF (TriangleP,)

Macro Definition Documentation

HPP_FCL_DECLARE_SHAPE_DISTANCE

#define HPP_FCL_DECLARE_SHAPE_DISTANCE	(		Shape1,
			Shape2,
			doc
	)

Value:

                \
  doc                                                                          \
  template<>                                                                   \
    bool GJKSolver::shapeDistance<Shape1, Shape2>                              \
    (const Shape1& s1, const Transform3f& tf1,                                 \
     const Shape2& s2, const Transform3f& tf2,                                 \
     FCL_REAL& dist, Vec3f& p1, Vec3f& p2, Vec3f& normal) const

HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR

#define HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR	(		Shape1,
			Shape2,
			doc
	)

Value:

HPP_FCL_DECLARE_SHAPE_DISTANCE(Shape1,Shape2,doc);                           \
  HPP_FCL_DECLARE_SHAPE_DISTANCE(Shape2,Shape1,doc)

HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF

#define HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF	(		Shape,
			doc
	)		HPP_FCL_DECLARE_SHAPE_DISTANCE(Shape,Shape,doc)

HPP_FCL_DECLARE_SHAPE_INTERSECT

#define HPP_FCL_DECLARE_SHAPE_INTERSECT	(		Shape1,
			Shape2,
			doc
	)

Value:

               \
  doc                                                                          \
  template<>                                                                   \
    bool GJKSolver::shapeIntersect<Shape1, Shape2>                             \
    (const Shape1& s1, const Transform3f& tf1,                                 \
     const Shape2& s2, const Transform3f& tf2,                                 \
     FCL_REAL& distance_lower_bound, bool enable_penetration,                  \
     Vec3f* contact_points, Vec3f* normal) const

HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR

#define HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR	(		Shape1,
			Shape2,
			doc
	)

Value:

HPP_FCL_DECLARE_SHAPE_INTERSECT(Shape1,Shape2,doc);                          \
  HPP_FCL_DECLARE_SHAPE_INTERSECT(Shape2,Shape1,doc)

HPP_FCL_DECLARE_SHAPE_INTERSECT_SELF

#define HPP_FCL_DECLARE_SHAPE_INTERSECT_SELF	(		Shape,
			doc
	)		HPP_FCL_DECLARE_SHAPE_INTERSECT(Shape,Shape,doc)

HPP_FCL_DECLARE_SHAPE_TRIANGLE

#define HPP_FCL_DECLARE_SHAPE_TRIANGLE	(		Shape,
			doc
	)

Value:

            \
  doc                                                                          \
  template<> bool GJKSolver::shapeTriangleInteraction<Shape>                   \
    (const Shape& s, const Transform3f& tf1, const Vec3f& P1, const Vec3f& P2, \
     const Vec3f& P3, const Transform3f& tf2, FCL_REAL& distance,              \
     Vec3f& p1, Vec3f& p2, Vec3f& normal) const