walberla::pe::fcd::GJK Class Reference

Detailed Description

Implementation of the Gilbert-Johnson-Keerthi Algorithm.

#include <GJK.h>

Public Member Functions
Constructor
	GJK ()
Query functions
real_t	doGJK (GeomPrimitive &geom1, GeomPrimitive &geom2, Vec3 &normal, Vec3 &contactPoint)
	Calculate an upper bound for the distance of two Geometries. More...
bool	doGJKmargin (GeomPrimitive &geom1, GeomPrimitive &geom2, const real_t margin=contactThreshold)
	Compute if two geometries intersect. More...
Get functions
const std::vector< Vec3 > &	getSimplex () const
size_t	getSimplexSize () const
const std::vector< Vec3 > &	getSupportA () const
const std::vector< Vec3 > &	getSupportB () const

Private Member Functions
Utility functions
bool	simplex2 (Vec3 &d)
	Process a simplex with two nodes. More...
bool	simplex3 (Vec3 &d)
	Process a simplex with three nodes. More...
bool	simplex4 (Vec3 &d)
	Process a simplex with four nodes. More...
bool	sameDirection (const Vec3 &vec1, const Vec3 &vec2) const
	Checks if two vectors roughly point in the same directionTODO. More...
bool	zeroLengthVector (const Vec3 &vec) const
real_t	calcDistance (Vec3 &normal, Vec3 &contactPoint)
	Calculate closest Point in the simplex and its distance to the origin. More...
const Vec3	putSupport (const GeomPrimitive &geom1, const GeomPrimitive &geom2, const Vec3 &dir, const real_t margin, std::vector< Vec3 > &simplex, std::vector< Vec3 > &supportA, std::vector< Vec3 > &supportB, size_t index)
	Calculate a support point of a body extended by a threshold. More...

Private Attributes
Member variables
std::vector< Vec3 >	simplex_
std::vector< Vec3 >	supportA_
std::vector< Vec3 >	supportB_
unsigned char	numPoints_
Vec3	d_

Constructor & Destructor Documentation

GJK()

walberla::pe::fcd::GJK::GJK ( )

inlineexplicit

Member Function Documentation

calcDistance()

real_t walberla::pe::fcd::GJK::calcDistance ( Vec3 &  normal, Vec3 &  contactPoint  )

inlineprivate

Calculate closest Point in the simplex and its distance to the origin.

doGJK()

real_t walberla::pe::fcd::GJK::doGJK	(	GeomPrimitive &	geom1,
		GeomPrimitive &	geom2,
		Vec3 &	normal,
		Vec3 &	contactPoint
	)

Calculate an upper bound for the distance of two Geometries.

Returns

Distance between geom1 and geom2 or 0.0 if they are intersecting.

doGJKmargin()

bool walberla::pe::fcd::GJK::doGJKmargin	(	GeomPrimitive &	geom1,
		GeomPrimitive &	geom2,
		const real_t	margin = contactThreshold
	)

Compute if two geometries intersect.

Both can be enlarged by a specified margin.

Parameters

geom1	The first Body
geom2	The second Body
margin	The margin by which the objects will be enlarged.

Returns

true, if an intersection is found.

getSimplex()

const std::vector< Vec3 > & walberla::pe::fcd::GJK::getSimplex ( ) const

inline

getSimplexSize()

size_t walberla::pe::fcd::GJK::getSimplexSize ( ) const

inline

getSupportA()

const std::vector< Vec3 > & walberla::pe::fcd::GJK::getSupportA ( ) const

inline

getSupportB()

const std::vector< Vec3 > & walberla::pe::fcd::GJK::getSupportB ( ) const

inline

putSupport()

const Vec3 walberla::pe::fcd::GJK::putSupport ( const GeomPrimitive &  geom1, const GeomPrimitive &  geom2, const Vec3 &  dir, const real_t  margin, std::vector< Vec3 > &  simplex, std::vector< Vec3 > &  supportA, std::vector< Vec3 > &  supportB, size_t  index  )

inlineprivate

Calculate a support point of a body extended by a threshold.

Parameters

geom1	The body A.
geom2	The body B.
dir	The support point direction.
margin	Extension of the Body.

sameDirection()

bool walberla::pe::fcd::GJK::sameDirection ( const Vec3 &  vec1, const Vec3 &  vec2  ) const

inlineprivate

Checks if two vectors roughly point in the same directionTODO.

simplex2()

bool walberla::pe::fcd::GJK::simplex2 ( Vec3 &  d )

private

Process a simplex with two nodes.

simplex3()

bool walberla::pe::fcd::GJK::simplex3 ( Vec3 &  d )

private

Process a simplex with three nodes.

simplex4()

bool walberla::pe::fcd::GJK::simplex4 ( Vec3 &  d )

private

Process a simplex with four nodes.

zeroLengthVector()

bool walberla::pe::fcd::GJK::zeroLengthVector ( const Vec3 &  vec ) const

inlineprivate

Member Data Documentation

d_

Vec3 walberla::pe::fcd::GJK::d_

private

numPoints_

unsigned char walberla::pe::fcd::GJK::numPoints_

private

simplex_

std::vector<Vec3> walberla::pe::fcd::GJK::simplex_

private

supportA_

std::vector<Vec3> walberla::pe::fcd::GJK::supportA_

private

supportB_

std::vector<Vec3> walberla::pe::fcd::GJK::supportB_

private

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The documentation for this class was generated from the following files:

• /builds/administration/walberla-website/walberla/src/pe/collision/GJK.h
• /builds/administration/walberla-website/walberla/src/pe/collision/GJK.cpp