test_fcl_utility.cpp File Reference

#include "test_fcl_utility.h"
#include "fcl/collision.h"
#include "fcl/distance.h"
#include <cstdio>
#include <cstddef>

Include dependency graph for test_fcl_utility.cpp:

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Namespaces
namespace	fcl
	Main namespace.
Functions
bool	fcl::defaultCollisionFunction (CollisionObject *o1, CollisionObject *o2, void *cdata)
	Default collision callback for two objects o1 and o2 in broad phase. return value means whether the broad phase can stop now.
bool	fcl::defaultDistanceFunction (CollisionObject *o1, CollisionObject *o2, void *cdata, FCL_REAL &dist)
	Default distance callback for two objects o1 and o2 in broad phase. return value means whether the broad phase can stop now. also return dist, i.e. the bmin distance till now.
void	fcl::eulerToMatrix (FCL_REAL a, FCL_REAL b, FCL_REAL c, Matrix3f &R)
void	fcl::generateRandomTransform (FCL_REAL extents[6], Transform3f &transform)
	Generate one random transform whose translation is constrained by extents and rotation without constraints. The translation is (x, y, z), and extents[0] <= x <= extents[3], extents[1] <= y <= extents[4], extents[2] <= z <= extents[5].
void	fcl::generateRandomTransform_ccd (FCL_REAL extents[6], std::vector< Transform3f > &transforms, std::vector< Transform3f > &transforms2, FCL_REAL delta_trans[3], FCL_REAL delta_rot, std::size_t n, const std::vector< Vec3f > &vertices1, const std::vector< Triangle > &triangles1, const std::vector< Vec3f > &vertices2, const std::vector< Triangle > &triangles2)
void	fcl::generateRandomTransforms (FCL_REAL extents[6], std::vector< Transform3f > &transforms, std::size_t n)
	Generate n random transforms whose translations are constrained by extents.
void	fcl::generateRandomTransforms (FCL_REAL extents[6], FCL_REAL delta_trans[3], FCL_REAL delta_rot, std::vector< Transform3f > &transforms, std::vector< Transform3f > &transforms2, std::size_t n)
	Generate n random transforms whose translations are constrained by extents. Also generate another transforms2 which have additional random translation & rotation to the transforms generated.
void	fcl::loadOBJFile (const char *filename, std::vector< Vec3f > &points, std::vector< Triangle > &triangles)
	Load an obj mesh file.
FCL_REAL	fcl::rand_interval (FCL_REAL rmin, FCL_REAL rmax)