hpp-fcl 2.4.4
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 {
46namespace fcl {
47
49class HPP_FCL_DLLAPI Intersect {
50 public:
51 static bool buildTrianglePlane(const Vec3f& v1, const Vec3f& v2,
52 const Vec3f& v3, Vec3f* n, FCL_REAL* t);
53}; // class Intersect
54
56class HPP_FCL_DLLAPI Project {
57 public:
58 struct HPP_FCL_DLLAPI ProjectResult {
61 FCL_REAL parameterization[4];
62
64 FCL_REAL sqr_distance;
65
67 unsigned int encode;
68
69 ProjectResult() : sqr_distance(-1), encode(0) {}
70 };
71
73 static ProjectResult projectLine(const Vec3f& a, const Vec3f& b,
74 const Vec3f& p);
75
77 static ProjectResult projectTriangle(const Vec3f& a, const Vec3f& b,
78 const Vec3f& c, const Vec3f& p);
79
81 static ProjectResult projectTetrahedra(const Vec3f& a, const Vec3f& b,
82 const Vec3f& c, const Vec3f& d,
83 const Vec3f& p);
84
86 static ProjectResult projectLineOrigin(const Vec3f& a, const Vec3f& b);
87
89 static ProjectResult projectTriangleOrigin(const Vec3f& a, const Vec3f& b,
90 const Vec3f& c);
91
93 static ProjectResult projectTetrahedraOrigin(const Vec3f& a, const Vec3f& b,
94 const Vec3f& c, const Vec3f& d);
95};
96
98class HPP_FCL_DLLAPI TriangleDistance {
99 public:
105 static void segPoints(const Vec3f& P, const Vec3f& A, const Vec3f& Q,
106 const Vec3f& B, Vec3f& VEC, Vec3f& X, Vec3f& Y);
107
117 static FCL_REAL sqrTriDistance(const Vec3f S[3], const Vec3f T[3], Vec3f& P,
118 Vec3f& Q);
119
120 static FCL_REAL sqrTriDistance(const Vec3f& S1, const Vec3f& S2,
121 const Vec3f& S3, const Vec3f& T1,
122 const Vec3f& T2, const Vec3f& T3, Vec3f& P,
123 Vec3f& Q);
124
135 static FCL_REAL sqrTriDistance(const Vec3f S[3], const Vec3f T[3],
136 const Matrix3f& R, const Vec3f& Tl, Vec3f& P,
137 Vec3f& Q);
138
149 static FCL_REAL sqrTriDistance(const Vec3f S[3], const Vec3f T[3],
150 const Transform3f& tf, Vec3f& P, Vec3f& Q);
151
162 static FCL_REAL sqrTriDistance(const Vec3f& S1, const Vec3f& S2,
163 const Vec3f& S3, const Vec3f& T1,
164 const Vec3f& T2, const Vec3f& T3,
165 const Matrix3f& R, const Vec3f& Tl, Vec3f& P,
166 Vec3f& Q);
167
178 static FCL_REAL sqrTriDistance(const Vec3f& S1, const Vec3f& S2,
179 const Vec3f& S3, const Vec3f& T1,
180 const Vec3f& T2, const Vec3f& T3,
181 const Transform3f& tf, Vec3f& P, Vec3f& Q);
182};
183
184} // namespace fcl
185
186} // namespace hpp
187
189
190#endif
#define HPP_FCL_DLLAPI
Definition: config.hh:88
double FCL_REAL
Definition: data_types.h:65
Main namespace.
Definition: broadphase_bruteforce.h:44