class for GJK algorithm More...

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

Collaboration diagram for hpp::fcl::details::GJK:

[legend]

Classes
struct	Simplex

struct	SimplexV

Public Types
enum	Status { Valid, Inside, Failed }

typedef unsigned char	vertex_id_t

Public Member Functions
	GJK (unsigned int max_iterations_, FCL_REAL tolerance_)

void	initialize ()

Status	evaluate (const MinkowskiDiff &shape, const Vec3f &guess)
	GJK algorithm, given the initial value guess. More...

void	getSupport (const Vec3f &d, bool dIsNormalized, SimplexV &sv) const
	apply the support function along a direction, the result is return in sv More...

bool	encloseOrigin ()
	whether the simplex enclose the origin More...

Simplex *	getSimplex () const
	get the underlying simplex using in GJK, can be used for cache in next iteration More...

bool	hasClosestPoints ()
	Tells whether the closest points are available. More...

bool	hasPenetrationInformation (const MinkowskiDiff &shape)

bool	getClosestPoints (const MinkowskiDiff &shape, Vec3f &w0, Vec3f &w1)

Vec3f	getGuessFromSimplex () const
	get the guess from current simplex More...

void	setDistanceEarlyBreak (const FCL_REAL &dup)
	Distance threshold for early break. GJK stops when it proved the distance is more than this threshold. More...

Public Attributes
MinkowskiDiff const *	shape

Vec3f	ray

FCL_REAL	distance

Simplex	simplices [2]

Detailed Description

class for GJK algorithm

Note: The computations are performed in the frame of the first shape.

Member Typedef Documentation

◆ vertex_id_t

typedef unsigned char hpp::fcl::details::GJK::vertex_id_t

Member Enumeration Documentation

◆ Status

enum hpp::fcl::details::GJK::Status

Enumerator
Valid
Inside
Failed

Constructor & Destructor Documentation

◆ GJK()

hpp::fcl::details::GJK::GJK	(	unsigned int	max_iterations_,
		FCL_REAL	tolerance_
	)

inline

Member Function Documentation

◆ encloseOrigin()

bool hpp::fcl::details::GJK::encloseOrigin ( )

whether the simplex enclose the origin

◆ evaluate()

Status hpp::fcl::details::GJK::evaluate	(	const MinkowskiDiff &	shape,
		const Vec3f &	guess
	)

GJK algorithm, given the initial value guess.

◆ getClosestPoints()

bool hpp::fcl::details::GJK::getClosestPoints	(	const MinkowskiDiff &	shape,
		Vec3f &	w0,
		Vec3f &	w1
	)

Get the closest points on each object.

Returns: true on success

◆ getGuessFromSimplex()

Vec3f hpp::fcl::details::GJK::getGuessFromSimplex ( ) const

get the guess from current simplex

◆ getSimplex()

Simplex* hpp::fcl::details::GJK::getSimplex ( ) const

inline

get the underlying simplex using in GJK, can be used for cache in next iteration

◆ getSupport()

void hpp::fcl::details::GJK::getSupport	(	const Vec3f &	d,
		bool	dIsNormalized,
		SimplexV &	sv
	)		const

inline

apply the support function along a direction, the result is return in sv

◆ hasClosestPoints()

bool hpp::fcl::details::GJK::hasClosestPoints ( )

inline

Tells whether the closest points are available.

◆ hasPenetrationInformation()

bool hpp::fcl::details::GJK::hasPenetrationInformation ( const MinkowskiDiff & shape )

inline

Tells whether the penetration information.

In such case, most indepth points and penetration depth can be retrieved from GJK. Calling EPA has an undefined behaviour.

◆ initialize()

void hpp::fcl::details::GJK::initialize ( )

◆ setDistanceEarlyBreak()

void hpp::fcl::details::GJK::setDistanceEarlyBreak ( const FCL_REAL & dup )

inline

Distance threshold for early break. GJK stops when it proved the distance is more than this threshold.

Note: The closest points will be erroneous in this case. If you want the closest points, set this to infinity (the default).

Member Data Documentation

◆ distance

FCL_REAL hpp::fcl::details::GJK::distance

The distance computed by GJK. The possible values are

when a collision is detected and GJK cannot compute penetration informations.
$- R \le d \le 0$ when a collision is detected and GJK can compute penetration informations.
$0 < d \le d_{ub}$ when there is no collision and GJK can compute the closest points.
$d_{ub} < d$ when there is no collision and GJK cannot compute the closest points.