Classes | Functions | Variables
fcl::details Namespace Reference

for OBB and RSS, there is local coordinate of BV, so normal need to be transformed More...

Classes

struct  MinkowskiDiff
 Minkowski difference class of two shapes. More...
struct  GJK
 class for GJK algorithm More...
struct  EPA
 class for EPA algorithm More...

Functions

Vec3f getSupport (const ShapeBase *shape, const Vec3f &dir)
 the support function for shape
template<typename BV >
const Matrix3fgetBVAxes (const BV &bv)
template<>
const Matrix3fgetBVAxes< 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

Detailed Description

for OBB and RSS, there is local coordinate of BV, so normal need to be transformed


Function Documentation

template<typename BV >
const Matrix3f& fcl::details::getBVAxes ( const BV &  bv) [inline]
template<>
const Matrix3f& fcl::details::getBVAxes< OBBRSS > ( const OBBRSS &  bv) [inline]
Vec3f fcl::details::getSupport ( const ShapeBase *  shape,
const Vec3f &  dir 
)

the support function for shape

Referenced by fcl::details::MinkowskiDiff::support0(), and fcl::details::MinkowskiDiff::support1().

template<typename S , typename BV , typename NarrowPhaseSolver , template< typename, typename > class OrientedNode>
static bool fcl::details::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 
) [inline, static]

Variable Documentation

const FCL_REAL fcl::details::EPA_EPS = 0.000001 [static]
const size_t fcl::details::EPA_MAX_FACES = 128 [static]
const size_t fcl::details::EPA_MAX_ITERATIONS = 255 [static]
const size_t fcl::details::EPA_MAX_VERTICES = 64 [static]
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