### Merge pull request #84 from LucileRemigy/refactoring

`Organize documentation`
parents 0594e6db 7c3f7a0f
 ... ... @@ -38,6 +38,8 @@ #ifndef HPP_FCL_INTERSECT_H #define HPP_FCL_INTERSECT_H /// @cond INTERNAL #include #include ... ... @@ -107,9 +109,9 @@ public: Vec3f& VEC, Vec3f& X, Vec3f& Y); /// Compute squared distance between triangles /// \param S and T are two triangles /// \retval P, Q closest points if triangles do not intersect. /// \return squared distance if triangles do not intersect, 0 otherwise. /// @param S and T are two triangles /// @retval P, Q closest points if triangles do not intersect. /// @return squared distance if triangles do not intersect, 0 otherwise. /// If the triangles are disjoint, P and Q give the closet points of /// S and T respectively. However, /// if the triangles overlap, P and Q are basically a random pair of points ... ... @@ -124,10 +126,10 @@ public: Vec3f& P, Vec3f& Q); /// Compute squared distance between triangles /// \param S and T are two triangles /// \param R, Tl, rotation and translation applied to T, /// \retval P, Q closest points if triangles do not intersect. /// \return squared distance if triangles do not intersect, 0 otherwise. /// @param S and T are two triangles /// @param R, Tl, rotation and translation applied to T, /// @retval P, Q closest points if triangles do not intersect. /// @return squared distance if triangles do not intersect, 0 otherwise. /// If the triangles are disjoint, P and Q give the closet points of /// S and T respectively. However, /// if the triangles overlap, P and Q are basically a random pair of points ... ... @@ -138,10 +140,10 @@ public: Vec3f& P, Vec3f& Q); /// Compute squared distance between triangles /// \param S and T are two triangles /// \param tf, rotation and translation applied to T, /// \retval P, Q closest points if triangles do not intersect. /// \return squared distance if triangles do not intersect, 0 otherwise. /// @param S and T are two triangles /// @param tf, rotation and translation applied to T, /// @retval P, Q closest points if triangles do not intersect. /// @return squared distance if triangles do not intersect, 0 otherwise. /// If the triangles are disjoint, P and Q give the closet points of /// S and T respectively. However, /// if the triangles overlap, P and Q are basically a random pair of points ... ... @@ -153,10 +155,10 @@ public: /// Compute squared distance between triangles /// \param S1, S2, S3 and T1, T2, T3 are triangle vertices /// \param R, Tl, rotation and translation applied to T1, T2, T3, /// \retval P, Q closest points if triangles do not intersect. /// \return squared distance if triangles do not intersect, 0 otherwise. /// @param S1, S2, S3 and T1, T2, T3 are triangle vertices /// @param R, Tl, rotation and translation applied to T1, T2, T3, /// @retval P, Q closest points if triangles do not intersect. /// @return squared distance if triangles do not intersect, 0 otherwise. /// If the triangles are disjoint, P and Q give the closet points of /// S and T respectively. However, /// if the triangles overlap, P and Q are basically a random pair of points ... ... @@ -169,10 +171,10 @@ public: Vec3f& P, Vec3f& Q); /// Compute squared distance between triangles /// \param S1, S2, S3 and T1, T2, T3 are triangle vertices /// \param tf, rotation and translation applied to T1, T2, T3, /// \retval P, Q closest points if triangles do not intersect. /// \return squared distance if triangles do not intersect, 0 otherwise. /// @param S1, S2, S3 and T1, T2, T3 are triangle vertices /// @param tf, rotation and translation applied to T1, T2, T3, /// @retval P, Q closest points if triangles do not intersect. /// @return squared distance if triangles do not intersect, 0 otherwise. /// If the triangles are disjoint, P and Q give the closet points of /// S and T respectively. However, /// if the triangles overlap, P and Q are basically a random pair of points ... ... @@ -186,10 +188,10 @@ public: }; } } // namespace hpp /// @endcond #endif
 ... ... @@ -273,7 +273,7 @@ namespace fcl { return (dist >=0); } /** \brief the minimum distance from a point to a line */ /** @brief the minimum distance from a point to a line */ inline FCL_REAL segmentSqrDistance (const Vec3f& from, const Vec3f& to,const Vec3f& p, Vec3f& nearest) { ... ... @@ -2092,11 +2092,11 @@ namespace fcl { } /// Taken from book Real Time Collision Detection, from Christer Ericson /// \param pb the closest point to the sphere center on the box surface /// \param ps when colliding, matches pb, which is inside the sphere. /// @param pb the closest point to the sphere center on the box surface /// @param ps when colliding, matches pb, which is inside the sphere. /// when not colliding, the closest point on the sphere /// \param normal direction of motion of the box /// \return true if the distance is negative (the shape overlaps). /// @param normal direction of motion of the box /// @return true if the distance is negative (the shape overlaps). inline bool boxSphereDistance(const Box & b, const Transform3f& tfb, const Sphere& s, const Transform3f& tfs, FCL_REAL& dist, Vec3f& pb, Vec3f& ps, ... ...
 ... ... @@ -1126,7 +1126,7 @@ EPA::SimplexF* EPA::newFace(SimplexV* a, SimplexV* b, SimplexV* c, bool forced) return NULL; } /** \brief Find the best polytope face to split */ /** @brief Find the best polytope face to split */ EPA::SimplexF* EPA::findBest() { SimplexF* minf = hull.root; ... ... @@ -1258,7 +1258,7 @@ EPA::Status EPA::evaluate(GJK& gjk, const Vec3f& guess) } /** \brief the goal is to add a face connecting vertex w and face edge f[e] */ /** @brief the goal is to add a face connecting vertex w and face edge f[e] */ bool EPA::expand(size_t pass, SimplexV* w, SimplexF* f, size_t e, SimplexHorizon& horizon) { static const size_t nexti[] = {1, 2, 0}; ... ...