class for GJK algorithm More...
#include <hpp/fcl/narrowphase/gjk.h>
Classes | |
struct | Simplex |
struct | SimplexV |
Public Types | |
enum | Status { Valid, Inside, Failed } |
typedef unsigned char | vertex_id_t |
Public Member Functions | |
GJK (unsigned int max_iterations_, FCL_REAL tolerance_) | |
void | initialize () |
Status | evaluate (const MinkowskiDiff &shape, const Vec3f &guess) |
GJK algorithm, given the initial value guess. More... | |
void | getSupport (const Vec3f &d, bool dIsNormalized, SimplexV &sv) const |
apply the support function along a direction, the result is return in sv More... | |
bool | encloseOrigin () |
whether the simplex enclose the origin More... | |
Simplex * | getSimplex () const |
get the underlying simplex using in GJK, can be used for cache in next iteration More... | |
Vec3f | getGuessFromSimplex () const |
get the guess from current simplex More... | |
void | setDistanceEarlyBreak (const FCL_REAL &dup) |
Distance threshold for early break. More... | |
Static Public Member Functions | |
static bool | getClosestPoints (const Simplex &simplex, Vec3f &w0, Vec3f &w1) |
Get the closest points on each object. More... | |
Public Attributes | |
MinkowskiDiff const * | shape |
Vec3f | ray |
FCL_REAL | distance |
Simplex | simplices [2] |
class for GJK algorithm
typedef unsigned char hpp::fcl::details::GJK::vertex_id_t |
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inline |
References initialize().
bool hpp::fcl::details::GJK::encloseOrigin | ( | ) |
whether the simplex enclose the origin
Status hpp::fcl::details::GJK::evaluate | ( | const MinkowskiDiff & | shape, |
const Vec3f & | guess | ||
) |
GJK algorithm, given the initial value guess.
Referenced by hpp::fcl::GJKSolver::shapeDistance(), hpp::fcl::GJKSolver::shapeIntersect(), and hpp::fcl::GJKSolver::shapeTriangleInteraction().
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static |
Get the closest points on each object.
Referenced by hpp::fcl::GJKSolver::shapeDistance(), hpp::fcl::GJKSolver::shapeIntersect(), and hpp::fcl::GJKSolver::shapeTriangleInteraction().
Vec3f hpp::fcl::details::GJK::getGuessFromSimplex | ( | ) | const |
get the guess from current simplex
Referenced by hpp::fcl::GJKSolver::shapeDistance(), hpp::fcl::GJKSolver::shapeIntersect(), and hpp::fcl::GJKSolver::shapeTriangleInteraction().
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inline |
get the underlying simplex using in GJK, can be used for cache in next iteration
Referenced by hpp::fcl::GJKSolver::shapeDistance(), and hpp::fcl::GJKSolver::shapeTriangleInteraction().
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inline |
apply the support function along a direction, the result is return in sv
References hpp::fcl::details::MinkowskiDiff::support(), hpp::fcl::details::GJK::SimplexV::w, hpp::fcl::details::GJK::SimplexV::w0, and hpp::fcl::details::GJK::SimplexV::w1.
void hpp::fcl::details::GJK::initialize | ( | ) |
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inline |
Distance threshold for early break.
GJK stops when it proved the distance is more than this threshold.
FCL_REAL hpp::fcl::details::GJK::distance |
Referenced by hpp::fcl::GJKSolver::shapeDistance(), and hpp::fcl::GJKSolver::shapeTriangleInteraction().
Vec3f hpp::fcl::details::GJK::ray |
MinkowskiDiff const* hpp::fcl::details::GJK::shape |
Simplex hpp::fcl::details::GJK::simplices[2] |