class mpkCollDistAlgo

Collision and distance computation algorithms.

Public Methods

ostatic bool Collision (double R1[3][3], double T1[3], PQP_Model* o1, double R2[3][3], double T2[3], PQP_Model* o2)
Determines whether two models are colliding.
ostatic double GreedyDistance (double R1[3][3], double T1[3], PQP_Model* o1, double R2[3][3], double T2[3], PQP_Model* o2, double delta)
Computes a simple but fast lower bound on the distance between two models.
ostatic double GreedyDistance (double center[3], double radius, double R2[3][3], double T2[3], PQP_Model* o2, double delta)
Computes a simple but fast lower bound on the distance between a sphere and a model.
ostatic double Distance (double R1[3][3], double T1[3], PQP_Model* o1, double R2[3][3], double T2[3], PQP_Model* o2, double rel_err=0.0, double abs_err=0.0)
Returns the (approximate) distance between two models. Note that the original version of PQP returns an upper bound on the distance when a bounded error is allowed. However, in our adaptive segment checker, we need a lower bound. In principle, PQP's approximate distance algorithm can be modified to return a lower bound, too. Still, approximate distance computation has been found to be slower than greedy distance computation.


Documentation

Collision and distance computation algorithms.

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