hpp::fcl::GJKSolver Struct Reference

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

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

Public Member Functions
template<typename S1 , typename S2 >
bool	shapeIntersect (const S1 &s1, const Transform3f &tf1, const S2 &s2, const Transform3f &tf2, FCL_REAL &distance_lower_bound, bool enable_penetration, Vec3f *contact_points, Vec3f *normal) const
	intersection checking between two shapes More...
template<typename S >
bool	shapeTriangleInteraction (const S &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
	intersection checking between one shape and a triangle with transformation More...
template<typename S1 , typename S2 >
bool	shapeDistance (const S1 &s1, const Transform3f &tf1, const S2 &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal) const
	distance computation between two shapes More...
	GJKSolver ()
	default setting for GJK algorithm More...
void	enableCachedGuess (bool if_enable) const
void	setCachedGuess (const Vec3f &guess) const
Vec3f	getCachedGuess () const
Shape intersection specializations
template<>
bool	shapeIntersect (const Box &s1, const Transform3f &tf1, const Box &s2, const Transform3f &tf2, FCL_REAL &distance_lower_bound, bool enable_penetration, Vec3f *contact_points, Vec3f *normal) const

Public Attributes
unsigned int	epa_max_face_num
	maximum number of simplex face used in EPA algorithm More...
unsigned int	epa_max_vertex_num
	maximum number of simplex vertex used in EPA algorithm More...
unsigned int	epa_max_iterations
	maximum number of iterations used for EPA iterations More...
FCL_REAL	epa_tolerance
	the threshold used in EPA to stop iteration More...
FCL_REAL	gjk_tolerance
	the threshold used in GJK to stop iteration More...
FCL_REAL	gjk_max_iterations
	maximum number of iterations used for GJK iterations More...
bool	enable_cached_guess
	Whether smart guess can be provided. More...
Vec3f	cached_guess
	smart guess More...

Detailed Description

collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the GJK in bullet)

Constructor & Destructor Documentation

GJKSolver()

hpp::fcl::GJKSolver::GJKSolver ( )

inline

default setting for GJK algorithm

Member Function Documentation

enableCachedGuess()

void hpp::fcl::GJKSolver::enableCachedGuess ( bool  if_enable ) const

inline

getCachedGuess()

Vec3f hpp::fcl::GJKSolver::getCachedGuess ( ) const

inline

setCachedGuess()

void hpp::fcl::GJKSolver::setCachedGuess ( const Vec3f &  guess ) const

inline

shapeDistance()

template<typename S1 , typename S2 >

bool hpp::fcl::GJKSolver::shapeDistance ( const S1 &  s1, const Transform3f &  tf1, const S2 &  s2, const Transform3f &  tf2, FCL_REAL &  distance, Vec3f &  p1, Vec3f &  p2, Vec3f &  normal  ) const

inline

distance computation between two shapes

shapeIntersect() [1/2]

template<typename S1 , typename S2 >

bool hpp::fcl::GJKSolver::shapeIntersect ( const S1 &  s1, const Transform3f &  tf1, const S2 &  s2, const Transform3f &  tf2, FCL_REAL &  distance_lower_bound, bool  enable_penetration, Vec3f *  contact_points, Vec3f *  normal  ) const

inline

intersection checking between two shapes

shapeIntersect() [2/2]

template<>

bool hpp::fcl::GJKSolver::shapeIntersect	(	const Box &	s1,
		const Transform3f &	tf1,
		const Box &	s2,
		const Transform3f &	tf2,
		FCL_REAL &	distance_lower_bound,
		bool	enable_penetration,
		Vec3f *	contact_points,
		Vec3f *	normal
	)		const

Todo:

currently disabled and to re-enable it, API of function obbDisjointAndLowerBoundDistance should be modified.

shapeTriangleInteraction()

template<typename S >

bool hpp::fcl::GJKSolver::shapeTriangleInteraction ( const S &  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

inline

intersection checking between one shape and a triangle with transformation

Returns

true if the shape are colliding.

Member Data Documentation

cached_guess

Vec3f hpp::fcl::GJKSolver::cached_guess

mutable

smart guess

enable_cached_guess

bool hpp::fcl::GJKSolver::enable_cached_guess

mutable

Whether smart guess can be provided.

epa_max_face_num

unsigned int hpp::fcl::GJKSolver::epa_max_face_num

maximum number of simplex face used in EPA algorithm

epa_max_iterations

unsigned int hpp::fcl::GJKSolver::epa_max_iterations

maximum number of iterations used for EPA iterations

epa_max_vertex_num

unsigned int hpp::fcl::GJKSolver::epa_max_vertex_num

maximum number of simplex vertex used in EPA algorithm

epa_tolerance

FCL_REAL hpp::fcl::GJKSolver::epa_tolerance

the threshold used in EPA to stop iteration

gjk_max_iterations

FCL_REAL hpp::fcl::GJKSolver::gjk_max_iterations

maximum number of iterations used for GJK iterations

gjk_tolerance

FCL_REAL hpp::fcl::GJKSolver::gjk_tolerance

the threshold used in GJK to stop iteration

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The documentation for this struct was generated from the following file:

• include/hpp/fcl/narrowphase/narrowphase.h