FCL
0.6.0
Flexible Collision Library

Minkowski difference class of two shapes. More...
#include <minkowski_diff.h>
Public Member Functions  
Vector3< S >  support0 (const Vector3< S > &d) const 
support function for shape0  
Vector3< S >  support1 (const Vector3< S > &d) const 
support function for shape1  
Vector3< S >  support (const Vector3< S > &d) const 
support function for the pair of shapes  
Vector3< S >  support (const Vector3< S > &d, size_t index) const 
support function for the dth shape (d = 0 or 1)  
Vector3< S >  support0 (const Vector3< S > &d, const Vector3< S > &v) const 
support function for translating shape0, which is translating at velocity v  
Vector3< S >  support (const Vector3< S > &d, const Vector3< S > &v) const 
support function for the pair of shapes, where shape0 is translating at velocity v  
Vector3< S >  support (const Vector3< S > &d, const Vector3< S > &v, size_t index) const 
support function for the dth shape (d = 0 or 1), where shape0 is translating at velocity v  
Public Attributes  
const ShapeBase< S > *  shapes [2] 
points to two shapes  
Matrix3< S >  toshape1 
rotation from shape0 to shape1  
Transform3< S >  toshape0 
transform from shape1 to shape0  
Minkowski difference class of two shapes.