Classes |
struct | MinkowskiDiff |
| Minkowski difference class of two shapes. More...
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struct | GJK |
| class for GJK algorithm More...
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struct | EPA |
| class for EPA algorithm More...
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Functions |
Vec3f | getSupport (const ShapeBase *shape, const Vec3f &dir) |
| the support function for shape
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template<typename BV > |
const Matrix3f & | getBVAxes (const BV &bv) |
template<> |
const Matrix3f & | getBVAxes< OBBRSS > (const OBBRSS &bv) |
template<typename S , typename BV , typename NarrowPhaseSolver , template< typename, typename > class OrientedNode> |
static bool | setupShapeMeshDistanceOrientedNode (OrientedNode< S, NarrowPhaseSolver > &node, const S &model1, const Transform3f &tf1, const BVHModel< BV > &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest &request, DistanceResult &result) |
Variables |
static const size_t | EPA_MAX_FACES = 128 |
static const size_t | EPA_MAX_VERTICES = 64 |
static const FCL_REAL | EPA_EPS = 0.000001 |
static const size_t | EPA_MAX_ITERATIONS = 255 |
for OBB and RSS, there is local coordinate of BV, so normal need to be transformed
template<typename S , typename BV , typename NarrowPhaseSolver , template< typename, typename > class OrientedNode>
static bool fcl::details::setupShapeMeshDistanceOrientedNode |
( |
OrientedNode< S, NarrowPhaseSolver > & |
node, |
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const S & |
model1, |
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const Transform3f & |
tf1, |
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const BVHModel< BV > & |
model2, |
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const Transform3f & |
tf2, |
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const NarrowPhaseSolver * |
nsolver, |
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const DistanceRequest & |
request, |
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DistanceResult & |
result |
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) |
| [inline, static] |