hpp-fcl 1.8.1
HPP fork of FCL -- The Flexible Collision Library
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intersect.h
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1/*
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35
38#ifndef HPP_FCL_INTERSECT_H
39#define HPP_FCL_INTERSECT_H
40
42
44
45namespace hpp
46{
47namespace fcl
48{
49
51class HPP_FCL_DLLAPI Intersect
52{
53public:
54 static bool buildTrianglePlane
55 (const Vec3f& v1, const Vec3f& v2, const Vec3f& v3, Vec3f* n, FCL_REAL* t);
56}; // class Intersect
57
59class HPP_FCL_DLLAPI Project
60{
61public:
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
98class HPP_FCL_DLLAPI TriangleDistance
99{
100public:
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
#define HPP_FCL_DLLAPI
Definition: config.hh:64
double FCL_REAL
Definition: data_types.h:66
Main namespace.
Definition: AABB.h:44