38#ifndef HPP_FCL_INTERSECT_H
39#define HPP_FCL_INTERSECT_H
54 static bool buildTrianglePlane
55 (
const Vec3f& v1,
const Vec3f& v2,
const Vec3f& v3, Vec3f* n, FCL_REAL* t);
73 ProjectResult() : sqr_distance(-1), encode(0)
79 static ProjectResult projectLine(
const Vec3f& a,
const Vec3f& b,
const Vec3f& p);
82 static ProjectResult projectTriangle(
const Vec3f& a,
const Vec3f& b,
const Vec3f& c,
const Vec3f& p);
85 static ProjectResult projectTetrahedra(
const Vec3f& a,
const Vec3f& b,
const Vec3f& c,
const Vec3f& d,
const Vec3f& p);
88 static ProjectResult projectLineOrigin(
const Vec3f& a,
const Vec3f& b);
91 static ProjectResult projectTriangleOrigin(
const Vec3f& a,
const Vec3f& b,
const Vec3f& c);
94 static ProjectResult projectTetrahedraOrigin(
const Vec3f& a,
const Vec3f& b,
const Vec3f& c,
const Vec3f& d);
107 static void segPoints(
const Vec3f& P,
const Vec3f& A,
const Vec3f& Q,
const Vec3f& B,
108 Vec3f& VEC, Vec3f& X, Vec3f& Y);
119 static FCL_REAL sqrTriDistance (
const Vec3f S[3],
const Vec3f T[3],
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,
137 static FCL_REAL sqrTriDistance (
const Vec3f S[3],
const Vec3f T[3],
138 const Matrix3f& R,
const Vec3f& Tl,
151 static FCL_REAL sqrTriDistance (
const Vec3f S[3],
const Vec3f T[3],
152 const Transform3f& tf,
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,
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,
#define HPP_FCL_DLLAPI
Definition: config.hh:64
double FCL_REAL
Definition: data_types.h:66
Main namespace.
Definition: AABB.h:44