93 const Vec3f& dir,
bool dirIsNormalized,
Vec3f& support0,
Vec3f& support1,
97 MinkowskiDiff() : linear_log_convex_threshold (32), getSupportFunc (NULL) {}
110 return getSupport(shapes[0], d, dIsNormalized, hint);
116 return oR1 *
getSupport(shapes[1], oR1.transpose() * d, dIsNormalized, hint) + ot1;
122 assert(getSupportFunc != NULL);
123 getSupportFunc(*
this, d, dIsNormalized, supp0, supp1, hint, const_cast<ShapeData*>(data));
181 GJK(
unsigned int max_iterations_,
FCL_REAL tolerance_) : max_iterations(max_iterations_),
182 tolerance(tolerance_)
197 shape->
support(d, dIsNormalized, sv.
w0, sv.
w1, hint);
198 sv.
w.noalias() = sv.
w0 - sv.
w1;
202 bool encloseOrigin();
213 return distance < distance_upper_bound;
222 return distance > - shape.
inflation.sum();
230 Vec3f getGuessFromSimplex()
const;
238 distance_upper_bound = dup;
249 unsigned int max_iterations;
254 inline void removeVertex(
Simplex& simplex);
257 inline void appendVertex(
Simplex& simplex,
const Vec3f& v,
bool isNormalized,
264 bool projectTriangleOrigin(
const Simplex& current,
Simplex& next);
267 bool projectTetrahedraOrigin(
const Simplex& current,
Simplex& next);
271 static const size_t EPA_MAX_FACES = 128;
272 static const size_t EPA_MAX_VERTICES = 64;
273 static const FCL_REAL EPA_EPS = 0.000001;
274 static const size_t EPA_MAX_ITERATIONS = 255;
302 if(root) root->
l[0] = face;
309 if(face->l[1]) face->
l[1]->
l[0] = face->
l[0];
310 if(face->l[0]) face->
l[0]->
l[1] = face->
l[1];
311 if(face == root) root = face->
l[1];
318 fa->
e[ea] = eb; fa->
f[ea] = fb;
319 fb->
e[eb] = ea; fb->
f[eb] = fa;
331 unsigned int max_face_num;
332 unsigned int max_vertex_num;
333 unsigned int max_iterations;
341 AccuracyReached = 1 << 1 | Valid ,
342 Degenerated = 1 << 1 | Failed,
343 NonConvex = 2 << 1 | Failed,
344 InvalidHull = 3 << 1 | Failed,
345 OutOfFaces = 4 << 1 | Failed,
346 OutOfVertices = 5 << 1 | Failed,
347 FallBack = 6 << 1 | Failed
359 EPA(
unsigned int max_face_num_,
unsigned int max_vertex_num_,
unsigned int max_iterations_,
FCL_REAL tolerance_) : max_face_num(max_face_num_),
360 max_vertex_num(max_vertex_num_),
361 max_iterations(max_iterations_),
362 tolerance(tolerance_)
387 SimplexF* newFace(SimplexV* a, SimplexV* b, SimplexV* vertex,
bool forced);
SimplexList stock
Definition: gjk.h:357
MinkowskiDiff const * shape
Definition: gjk.h:154
support_func_guess_t support_hint
Definition: gjk.h:156
Eigen::Array< FCL_REAL, 1, 2 > inflation
The radius of the sphere swepted volume. The 2 values correspond to the inflation of shape 0 and shap...
Definition: gjk.h:84
GJK::Simplex result
Definition: gjk.h:351
Status
Definition: gjk.h:338
MinkowskiDiff()
Definition: gjk.h:97
std::vector< int8_t > visited
Definition: gjk.h:67
Main namespace.
Definition: AABB.h:43
size_t pass
Definition: gjk.h:288
Vec3f support0(const Vec3f &d, bool dIsNormalized, int &hint) const
support function for shape0
Definition: gjk.h:108
Vec3f n
Definition: gjk.h:282
bool initialize(MeshCollisionTraversalNode< BV, RelativeTransformationIsIdentity > &node, BVHModel< BV > &model1, Transform3f &tf1, BVHModel< BV > &model2, Transform3f &tf2, CollisionResult &result, bool use_refit=false, bool refit_bottomup=false)
Initialize traversal node for collision between two meshes, given the current transforms.
Definition: traversal_node_setup.h:407
Simplex()
Definition: gjk.h:149
SimplexF * f[3]
Definition: gjk.h:285
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:68
Vec3f getSupport(const ShapeBase *shape, const Vec3f &dir, bool dirIsNormalized, int &hint)
the support function for shape
EPA(unsigned int max_face_num_, unsigned int max_vertex_num_, unsigned int max_iterations_, FCL_REAL tolerance_)
Definition: gjk.h:359
void append(SimplexF *face)
Definition: gjk.h:298
class for GJK algorithm
Definition: gjk.h:130
SimplexF * cf
Definition: gjk.h:324
Vec3f support1(const Vec3f &d, bool dIsNormalized, int &hint) const
support function for shape1
Definition: gjk.h:114
Vec3f ray
Definition: gjk.h:155
Vec3f w
support vector (i.e., the furthest point on the shape along the support direction) ...
Definition: gjk.h:137
Minkowski difference class of two shapes.
Definition: gjk.h:61
class for EPA algorithm
Definition: gjk.h:277
static void bind(SimplexF *fa, size_t ea, SimplexF *fb, size_t eb)
Definition: gjk.h:316
Base class for all basic geometric shapes.
Definition: geometric_shapes.h:54
SimplexF * ff
Definition: gjk.h:325
Vec3f w1
Definition: gjk.h:135
GJK(unsigned int max_iterations_, FCL_REAL tolerance_)
Definition: gjk.h:181
SimplexHorizon()
Definition: gjk.h:327
double FCL_REAL
Definition: data_types.h:66
GetSupportFunction getSupportFunc
Definition: gjk.h:95
Definition: traversal_node_setup.h:775
size_t nextsv
Definition: gjk.h:356
Vec3f ot1
translation from shape1 to shape0 such that .
Definition: gjk.h:80
SimplexF * root
Definition: gjk.h:295
Status
Definition: gjk.h:152
Simplex * getSimplex() const
get the underlying simplex using in GJK, can be used for cache in next iteration
Definition: gjk.h:205
SimplexList()
Definition: gjk.h:297
Eigen::Vector2i support_func_guess_t
Definition: data_types.h:71
FCL_REAL depth
Definition: gjk.h:353
FCL_REAL distance
Definition: gjk.h:170
Vec3f w0
support vector for shape 0 and 1.
Definition: gjk.h:135
~EPA()
Definition: gjk.h:367
unsigned char vertex_id_t
Definition: gjk.h:140
void support(const Vec3f &d, bool dIsNormalized, Vec3f &supp0, Vec3f &supp1, support_func_guess_t &hint) const
support function for the pair of shapes
Definition: gjk.h:120
FCL_REAL d
Definition: gjk.h:283
SimplexV * sv_store
Definition: gjk.h:354
size_t nf
Definition: gjk.h:326
SimplexF()
Definition: gjk.h:290
SimplexF * fc_store
Definition: gjk.h:355
size_t count
Definition: gjk.h:296
void setDistanceEarlyBreak(const FCL_REAL &dup)
Distance threshold for early break. GJK stops when it proved the distance is more than this threshold...
Definition: gjk.h:236
int linear_log_convex_threshold
Number of points in a Convex object from which using a logarithmic support function is faster than a ...
Definition: gjk.h:90
vertex_id_t rank
size of simplex (number of vertices)
Definition: gjk.h:147
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:67
bool hasClosestPoints()
Tells whether the closest points are available.
Definition: gjk.h:211
Vec3f normal
Definition: gjk.h:352
Matrix3f oR1
rotation from shape1 to shape0 such that .
Definition: gjk.h:76
size_t e[3]
Definition: gjk.h:287
SimplexF * l[2]
Definition: gjk.h:286
Status status
Definition: gjk.h:350
GJK::SimplexV SimplexV
Definition: gjk.h:279
bool hasPenetrationInformation(const MinkowskiDiff &shape)
Definition: gjk.h:220
void getSupport(const Vec3f &d, bool dIsNormalized, SimplexV &sv, support_func_guess_t &hint) const
apply the support function along a direction, the result is return in sv
Definition: gjk.h:194
#define HPP_FCL_DLLAPI
Definition: config.hh:64