 fcl | Main namespace |
  details | For OBB and RSS, there is local coordinate of BV, so normal need to be transformed |
   MinkowskiDiff | Minkowski difference class of two shapes |
   GJK | Class for GJK algorithm |
    Simplex | |
    SimplexV | |
   EPA | Class for EPA algorithm |
  implementation_array | |
   NodeBase | |
   nodeBaseLess | Functor comparing two nodes |
   HierarchyTree | Class for hierarchy tree structure |
  time | Namespace containing time datatypes and time operations |
  tools | |
   Profiler | This is a simple thread-safe tool for counting time spent in various chunks of code |
    ScopedBlock | This instance will call Profiler::begin() when constructed and Profiler::end() when it goes out of scope |
    ScopedStart | This instance will call Profiler::start() when constructed and Profiler::stop() when it goes out of scope |
  BroadPhaseCollisionManager | Base class for broad phase collision. It helps to accelerate the collision/distance between N objects. Also support self collision, self distance and collision/distance with another M objects |
  NaiveCollisionManager | Brute force N-body collision manager |
  DynamicAABBTreeCollisionManager | |
  DynamicAABBTreeCollisionManager_Array | |
  IntervalTreeCollisionManager | Collision manager based on interval tree |
   EndPoint | SAP end point |
   SAPInterval | Extention interval tree's interval to SAP interval, adding more information |
  SaPCollisionManager | Rigorous SAP collision manager |
   EndPoint | End point for an interval |
   isNotValidPair | Functor to help remove collision pairs no longer valid (i.e., should be culled away) |
   isUnregistered | Functor to help unregister one object |
   SaPAABB | SAP interval for one object |
   SaPPair | A pair of objects that are not culling away and should further check collision |
  SpatialHash | Spatial hash function: hash an AABB to a set of integer values |
  SpatialHashingCollisionManager | Spatial hashing collision mananger |
  SSaPCollisionManager | Simple SAP collision manager |
  SimpleHashTable | A simple hash table implemented as multiple buckets. HashFnc is any extended hash function: HashFnc(key) = {index1, index2, ..., } |
  unordered_map_hash_table | |
  SparseHashTable | A hash table implemented using unordered_map |
  NodeBase | Dynamic AABB tree node |
  HierarchyTree | Class for hierarchy tree structure |
  SimpleInterval | Interval trees implemented using red-black-trees as described in the book Introduction_To_Algorithms_ by Cormen, Leisserson, and Rivest |
  IntervalTreeNode | The node for interval tree |
  IntervalTree | Interval tree |
  morton_functor | Functor to compute the morton code for a given AABB |
  morton_functor< FCL_UINT32 > | Functor to compute 30 bit morton code for a given AABB |
  morton_functor< FCL_UINT64 > | Functor to compute 60 bit morton code for a given AABB |
  morton_functor< boost::dynamic_bitset<> > | Functor to compute n bit morton code for a given AABB |
  AABB | A class describing the AABB collision structure, which is a box in 3D space determined by two diagonal points |
  BVNodeBase | BVNodeBase encodes the tree structure for BVH |
  BVNode | 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 |
  KDOP | KDOP class describes the KDOP collision structures |
  kIOS | A class describing the kIOS collision structure, which is a set of spheres |
  OBB | Oriented bounding box class |
  OBBRSS | Class merging the OBB and RSS, can handle collision and distance simultaneously |
  RSS | A class for rectangle sphere-swept bounding volume |
  BVFitterBase | Interface for fitting a bv given the triangles or points inside it |
  BVFitter | The class for the default algorithm fitting a bounding volume to a set of points |
  BVFitter< OBB > | Specification of BVFitter for OBB bounding volume |
  BVFitter< RSS > | Specification of BVFitter for RSS bounding volume |
  BVFitter< kIOS > | Specification of BVFitter for kIOS bounding volume |
  BVFitter< OBBRSS > | Specification of BVFitter for OBBRSS bounding volume |
  BVSplitterBase | Base interface for BV splitting algorithm |
  BVSplitter | A class describing the split rule that splits each BV node |
  BVHFrontNode | 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 |
  BVHModel | A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh) |
  Contact | Contact information returned by collision |
  CostSource | Cost source describes an area with a cost. The area is described by an AABB region |
  CollisionRequest | Request to the collision algorithm |
  CollisionResult | Collision result |
  DistanceRequest | Request to the distance computation |
  DistanceResult | Distance result |
  CollisionFunctionMatrix | Collision matrix stores the functions for collision between different types of objects and provides a uniform call interface |
  CollisionGeometry | The geometry for the object for collision or distance computation |
  CollisionObject | Object for collision or distance computation, contains the geometry and the transform information |
  Triangle | Triangle with 3 indices for points |
  DistanceFunctionMatrix | Distance matrix stores the functions for distance between different types of objects and provides a uniform call interface |
  Exception | |
  PolySolver | A class solves polynomial degree (1,2,3) equations |
  Intersect | CCD intersect kernel among primitives |
  Project | Project functions |
   ProjectResult | |
  TriangleDistance | Triangle distance functions |
  Variance3f | Class for variance matrix in 3d |
  Transform3f | Simple transform class used locally by InterpMotion |
  TriangleAndVertices | |
  GJKSolver_indep | Collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the GJK in bullet) |
  OcTree | Octree is one type of collision geometry which can encode uncertainty information in the sensor data |
  ShapeBase | Base class for all basic geometric shapes |
  TriangleP | Triangle stores the points instead of only indices of points |
  Box | Center at zero point, axis aligned box |
  Sphere | Center at zero point sphere |
  Capsule | Center at zero point capsule |
  Cone | Center at zero cone |
  Cylinder | Center at zero cylinder |
  Convex | Convex polytope |
   Edge | |
  Halfspace | Half Space: this is equivalent to the Plane in ODE |
  Plane | Infinite plane |
  TraversalNodeBase | Node structure encoding the information required for traversal |
  CollisionTraversalNodeBase | Node structure encoding the information required for collision traversal |
  DistanceTraversalNodeBase | Node structure encoding the information required for distance traversal |
  BVHShapeCollisionTraversalNode | Traversal node for collision between BVH and shape |
  ShapeBVHCollisionTraversalNode | Traversal node for collision between shape and BVH |
  MeshShapeCollisionTraversalNode | Traversal node for collision between mesh and shape |
  MeshShapeCollisionTraversalNodeOBB | Traversal node for mesh and shape, when mesh BVH is one of the oriented node (OBB, RSS, OBBRSS, kIOS) |
  MeshShapeCollisionTraversalNodeRSS | |
  MeshShapeCollisionTraversalNodekIOS | |
  MeshShapeCollisionTraversalNodeOBBRSS | |
  ShapeMeshCollisionTraversalNode | Traversal node for collision between shape and mesh |
  ShapeMeshCollisionTraversalNodeOBB | Traversal node for shape and mesh, when mesh BVH is one of the oriented node (OBB, RSS, OBBRSS, kIOS) |
  ShapeMeshCollisionTraversalNodeRSS | |
  ShapeMeshCollisionTraversalNodekIOS | |
  ShapeMeshCollisionTraversalNodeOBBRSS | |
  BVHShapeDistanceTraversalNode | Traversal node for distance computation between BVH and shape |
  ShapeBVHDistanceTraversalNode | Traversal node for distance computation between shape and BVH |
  MeshShapeDistanceTraversalNode | Traversal node for distance between mesh and shape |
  MeshShapeDistanceTraversalNodeRSS | Traversal node for distance between mesh and shape, when mesh BVH is one of the oriented node (RSS, OBBRSS, kIOS) |
  MeshShapeDistanceTraversalNodekIOS | |
  MeshShapeDistanceTraversalNodeOBBRSS | |
  ShapeMeshDistanceTraversalNode | Traversal node for distance between shape and mesh |
  ShapeMeshDistanceTraversalNodeRSS | |
  ShapeMeshDistanceTraversalNodekIOS | |
  ShapeMeshDistanceTraversalNodeOBBRSS | |
  BVHCollisionTraversalNode | Traversal node for collision between BVH models |
  MeshCollisionTraversalNode | Traversal node for collision between two meshes |
  MeshCollisionTraversalNodeOBB | Traversal node for collision between two meshes if their underlying BVH node is oriented node (OBB, RSS, OBBRSS, kIOS) |
  MeshCollisionTraversalNodeRSS | |
  MeshCollisionTraversalNodekIOS | |
  MeshCollisionTraversalNodeOBBRSS | |
  BVHDistanceTraversalNode | Traversal node for distance computation between BVH models |
  MeshDistanceTraversalNode | Traversal node for distance computation between two meshes |
  MeshDistanceTraversalNodeRSS | Traversal node for distance computation between two meshes if their underlying BVH node is oriented node (RSS, OBBRSS, kIOS) |
  MeshDistanceTraversalNodekIOS | |
  MeshDistanceTraversalNodeOBBRSS | |
  OcTreeSolver | Algorithms for collision related with octree |
  OcTreeCollisionTraversalNode | Traversal node for octree collision |
  OcTreeDistanceTraversalNode | Traversal node for octree distance |
  ShapeOcTreeCollisionTraversalNode | Traversal node for shape-octree collision |
  OcTreeShapeCollisionTraversalNode | Traversal node for octree-shape collision |
  ShapeOcTreeDistanceTraversalNode | Traversal node for shape-octree distance |
  OcTreeShapeDistanceTraversalNode | Traversal node for octree-shape distance |
  MeshOcTreeCollisionTraversalNode | Traversal node for mesh-octree collision |
  OcTreeMeshCollisionTraversalNode | Traversal node for octree-mesh collision |
  MeshOcTreeDistanceTraversalNode | Traversal node for mesh-octree distance |
  OcTreeMeshDistanceTraversalNode | Traversal node for octree-mesh distance |
  ShapeCollisionTraversalNode | Traversal node for collision between two shapes |
  ShapeDistanceTraversalNode | Traversal node for distance between two shapes |