#include <limits>
#include <iostream>
#include <hpp/fcl/narrowphase/gjk.h>
#include <hpp/fcl/collision_data.h>
Go to the source code of this file.
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struct | hpp::fcl::GJKSolver |
| collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the GJK in bullet) More...
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#define | SHAPE_INTERSECT_SPECIALIZATION_BASE(S1, S2) |
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#define | SHAPE_INTERSECT_SPECIALIZATION(S1, S2) |
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#define | SHAPE_DISTANCE_SPECIALIZATION_BASE(S1, S2) |
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#define | SHAPE_DISTANCE_SPECIALIZATION(S1, S2) |
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#define | HPP_FCL_DECLARE_SHAPE_INTERSECT(Shape1, Shape2, doc) |
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#define | HPP_FCL_DECLARE_SHAPE_INTERSECT_SELF(Shape, doc) HPP_FCL_DECLARE_SHAPE_INTERSECT(Shape, Shape, doc) |
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#define | HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR(Shape1, Shape2, doc) |
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#define | HPP_FCL_DECLARE_SHAPE_TRIANGLE(Shape, doc) |
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#define | HPP_FCL_DECLARE_SHAPE_DISTANCE(Shape1, Shape2, doc) |
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#define | HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF(Shape, doc) HPP_FCL_DECLARE_SHAPE_DISTANCE(Shape, Shape, doc) |
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#define | HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR(Shape1, Shape2, doc) |
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◆ HPP_FCL_DECLARE_SHAPE_DISTANCE
#define HPP_FCL_DECLARE_SHAPE_DISTANCE |
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doc template <> \
const Shape1& s1, const Transform3f& tf1, const Shape2& s2, \
const Transform3f& tf2, FCL_REAL& dist, Vec3f& p1, Vec3f& p2, \
Vec3f& normal) const
#define HPP_FCL_DLLAPI
Definition: config.hh:64
◆ HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR
#define HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR |
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HPP_FCL_DECLARE_SHAPE_DISTANCE(Shape2, Shape1, doc)
#define HPP_FCL_DECLARE_SHAPE_DISTANCE(Shape1, Shape2, doc)
Definition: narrowphase.h:683
◆ HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF
◆ HPP_FCL_DECLARE_SHAPE_INTERSECT
#define HPP_FCL_DECLARE_SHAPE_INTERSECT |
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doc template <> \
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 |
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HPP_FCL_DECLARE_SHAPE_INTERSECT(Shape2, Shape1, doc)
#define HPP_FCL_DECLARE_SHAPE_INTERSECT(Shape1, Shape2, doc)
Definition: narrowphase.h:599
◆ HPP_FCL_DECLARE_SHAPE_INTERSECT_SELF
◆ HPP_FCL_DECLARE_SHAPE_TRIANGLE
#define HPP_FCL_DECLARE_SHAPE_TRIANGLE |
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doc template <> \
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
◆ SHAPE_DISTANCE_SPECIALIZATION
#define SHAPE_DISTANCE_SPECIALIZATION |
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SHAPE_DISTANCE_SPECIALIZATION_BASE(S2, S1)
#define SHAPE_DISTANCE_SPECIALIZATION_BASE(S1, S2)
Definition: narrowphase.h:569
◆ SHAPE_DISTANCE_SPECIALIZATION_BASE
#define SHAPE_DISTANCE_SPECIALIZATION_BASE |
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Value: template <> \
const S1& s1, const Transform3f& tf1, const S2& s2, \
const Transform3f& tf2, FCL_REAL& dist, Vec3f& p1, Vec3f& p2, \
Vec3f& normal) const
◆ SHAPE_INTERSECT_SPECIALIZATION
#define SHAPE_INTERSECT_SPECIALIZATION |
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SHAPE_INTERSECT_SPECIALIZATION_BASE(S2, S1)
#define SHAPE_INTERSECT_SPECIALIZATION_BASE(S1, S2)
Definition: narrowphase.h:538
◆ SHAPE_INTERSECT_SPECIALIZATION_BASE
#define SHAPE_INTERSECT_SPECIALIZATION_BASE |
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Value: template <> \
const S1& s1, const Transform3f& tf1, const S2& s2, \
const Transform3f& tf2, FCL_REAL& distance_lower_bound, bool, \
Vec3f* contact_points, Vec3f* normal) const