hpp-fcl  1.7.0
HPP fork of FCL -- The Flexible Collision Library
intersect.h
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35 
38 #ifndef HPP_FCL_INTERSECT_H
39 #define HPP_FCL_INTERSECT_H
40 
42 
43 #include <hpp/fcl/math/transform.h>
44 
45 namespace hpp
46 {
47 namespace fcl
48 {
49 
51 class HPP_FCL_DLLAPI Intersect
52 {
53 public:
54  static bool buildTrianglePlane
55  (const Vec3f& v1, const Vec3f& v2, const Vec3f& v3, Vec3f* n, FCL_REAL* t);
56 }; // class Intersect
57 
59 class HPP_FCL_DLLAPI Project
60 {
61 public:
62  struct HPP_FCL_DLLAPI ProjectResult
63  {
65  FCL_REAL parameterization[4];
66 
68  FCL_REAL sqr_distance;
69 
71  unsigned int encode;
72 
73  ProjectResult() : sqr_distance(-1), encode(0)
74  {
75  }
76  };
77 
79  static ProjectResult projectLine(const Vec3f& a, const Vec3f& b, const Vec3f& p);
80 
82  static ProjectResult projectTriangle(const Vec3f& a, const Vec3f& b, const Vec3f& c, const Vec3f& p);
83 
85  static ProjectResult projectTetrahedra(const Vec3f& a, const Vec3f& b, const Vec3f& c, const Vec3f& d, const Vec3f& p);
86 
88  static ProjectResult projectLineOrigin(const Vec3f& a, const Vec3f& b);
89 
91  static ProjectResult projectTriangleOrigin(const Vec3f& a, const Vec3f& b, const Vec3f& c);
92 
94  static ProjectResult projectTetrahedraOrigin(const Vec3f& a, const Vec3f& b, const Vec3f& c, const Vec3f& d);
95 };
96 
98 class HPP_FCL_DLLAPI TriangleDistance
99 {
100 public:
101 
107  static void segPoints(const Vec3f& P, const Vec3f& A, const Vec3f& Q, const Vec3f& B,
108  Vec3f& VEC, Vec3f& X, Vec3f& Y);
109 
119  static FCL_REAL sqrTriDistance (const Vec3f S[3], const Vec3f T[3],
120  Vec3f& P, Vec3f& Q);
121 
122  static FCL_REAL sqrTriDistance (const Vec3f& S1, const Vec3f& S2,
123  const Vec3f& S3, const Vec3f& T1,
124  const Vec3f& T2, const Vec3f& T3,
125  Vec3f& P, Vec3f& Q);
126 
137  static FCL_REAL sqrTriDistance (const Vec3f S[3], const Vec3f T[3],
138  const Matrix3f& R, const Vec3f& Tl,
139  Vec3f& P, Vec3f& Q);
140 
151  static FCL_REAL sqrTriDistance (const Vec3f S[3], const Vec3f T[3],
152  const Transform3f& tf,
153  Vec3f& P, Vec3f& Q);
154 
155 
166  static FCL_REAL sqrTriDistance (const Vec3f& S1, const Vec3f& S2,
167  const Vec3f& S3, const Vec3f& T1,
168  const Vec3f& T2, const Vec3f& T3,
169  const Matrix3f& R, const Vec3f& Tl,
170  Vec3f& P, Vec3f& Q);
171 
182  static FCL_REAL sqrTriDistance (const Vec3f& S1, const Vec3f& S2,
183  const Vec3f& S3, const Vec3f& T1,
184  const Vec3f& T2, const Vec3f& T3,
185  const Transform3f& tf,
186  Vec3f& P, Vec3f& Q);
187 
188 };
189 
190 }
191 
192 } // namespace hpp
193 
195 
196 #endif
Main namespace.
Definition: AABB.h:43
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:68
double FCL_REAL
Definition: data_types.h:66
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:67
#define HPP_FCL_DLLAPI
Definition: config.hh:64