Minkowski difference class of two shapes. More...
#include <hpp/fcl/narrowphase/gjk.h>
Public Member Functions | |
MinkowskiDiff () | |
Vec3f | support0 (const Vec3f &d) const |
support function for shape0 | |
Vec3f | support1 (const Vec3f &d) const |
support function for shape1 | |
Vec3f | support (const Vec3f &d) const |
support function for the pair of shapes | |
Vec3f | support (const Vec3f &d, size_t index) const |
support function for the d-th shape (d = 0 or 1) | |
Vec3f | support0 (const Vec3f &d, const Vec3f &v) const |
support function for translating shape0, which is translating at velocity v | |
Vec3f | support (const Vec3f &d, const Vec3f &v) const |
support function for the pair of shapes, where shape0 is translating at velocity v | |
Vec3f | support (const Vec3f &d, const Vec3f &v, size_t index) const |
support function for the d-th shape (d = 0 or 1), where shape0 is translating at velocity v | |
Public Attributes | |
const ShapeBase * | shapes [2] |
points to two shapes | |
Matrix3f | toshape1 |
rotation from shape0 to shape1 | |
Transform3f | toshape0 |
transform from shape1 to shape0 |
Minkowski difference class of two shapes.
fcl::details::MinkowskiDiff::MinkowskiDiff | ( | ) | [inline] |
support function for the pair of shapes
References support0(), and support1().
Referenced by fcl::GJKSolver_indep::shapeDistance(), fcl::GJKSolver_indep::shapeIntersect(), fcl::GJKSolver_indep::shapeTriangleDistance(), and fcl::GJKSolver_indep::shapeTriangleIntersect().
support function for the d-th shape (d = 0 or 1)
References support0(), and support1().
support function for the pair of shapes, where shape0 is translating at velocity v
References support0(), and support1().
Vec3f fcl::details::MinkowskiDiff::support | ( | const Vec3f & | d, |
const Vec3f & | v, | ||
size_t | index | ||
) | const [inline] |
support function for the d-th shape (d = 0 or 1), where shape0 is translating at velocity v
References support0(), and support1().
support function for shape0
References fcl::details::getSupport(), and shapes.
Referenced by support().
support function for translating shape0, which is translating at velocity v
References fcl::details::getSupport(), and shapes.
support function for shape1
References fcl::details::getSupport(), shapes, toshape0, toshape1, and fcl::Transform3f::transform().
Referenced by support().
const ShapeBase* fcl::details::MinkowskiDiff::shapes[2] |
points to two shapes
Referenced by fcl::GJKSolver_indep::shapeDistance(), fcl::GJKSolver_indep::shapeIntersect(), fcl::GJKSolver_indep::shapeTriangleDistance(), fcl::GJKSolver_indep::shapeTriangleIntersect(), support0(), and support1().
transform from shape1 to shape0
Referenced by fcl::GJKSolver_indep::shapeDistance(), fcl::GJKSolver_indep::shapeIntersect(), fcl::GJKSolver_indep::shapeTriangleDistance(), fcl::GJKSolver_indep::shapeTriangleIntersect(), and support1().
rotation from shape0 to shape1
Referenced by fcl::GJKSolver_indep::shapeDistance(), fcl::GJKSolver_indep::shapeIntersect(), fcl::GJKSolver_indep::shapeTriangleDistance(), fcl::GJKSolver_indep::shapeTriangleIntersect(), and support1().