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static bool | intersect_VF (const Vec3f &a0, const Vec3f &b0, const Vec3f &c0, const Vec3f &p0, const Vec3f &a1, const Vec3f &b1, const Vec3f &c1, const Vec3f &p1, FCL_REAL *collision_time, Vec3f *p_i, bool useNewton=true) |
| CCD intersect between one vertex and one face [a0, b0, c0] and [a1, b1, c1] are points for the triangle face in time t0 and t1 p0 and p1 are points for vertex in time t0 and t1 p_i returns the coordinate of the collision point. More...
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static bool | intersect_EE (const Vec3f &a0, const Vec3f &b0, const Vec3f &c0, const Vec3f &d0, const Vec3f &a1, const Vec3f &b1, const Vec3f &c1, const Vec3f &d1, FCL_REAL *collision_time, Vec3f *p_i, bool useNewton=true) |
| CCD intersect between two edges [a0, b0] and [a1, b1] are points for one edge in time t0 and t1 [c0, d0] and [c1, d1] are points for the other edge in time t0 and t1 p_i returns the coordinate of the collision point. More...
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static bool | intersect_VF_filtered (const Vec3f &a0, const Vec3f &b0, const Vec3f &c0, const Vec3f &p0, const Vec3f &a1, const Vec3f &b1, const Vec3f &c1, const Vec3f &p1, FCL_REAL *collision_time, Vec3f *p_i, bool useNewton=true) |
| CCD intersect between one vertex and one face, using additional filter. More...
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static bool | intersect_EE_filtered (const Vec3f &a0, const Vec3f &b0, const Vec3f &c0, const Vec3f &d0, const Vec3f &a1, const Vec3f &b1, const Vec3f &c1, const Vec3f &d1, FCL_REAL *collision_time, Vec3f *p_i, bool useNewton=true) |
| CCD intersect between two edges, using additional filter. More...
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static bool | intersect_VE (const Vec3f &a0, const Vec3f &b0, const Vec3f &p0, const Vec3f &a1, const Vec3f &b1, const Vec3f &p1, const Vec3f &L) |
| CCD intersect between one vertex and and one edge. More...
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static bool | intersect_Triangle (const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Vec3f &Q1, const Vec3f &Q2, const Vec3f &Q3, Vec3f *contact_points=NULL, unsigned int *num_contact_points=NULL, FCL_REAL *penetration_depth=NULL, Vec3f *normal=NULL) |
| CD intersect between two triangles [P1, P2, P3] and [Q1, Q2, Q3]. More...
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static bool | intersect_Triangle (const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Vec3f &Q1, const Vec3f &Q2, const Vec3f &Q3, const Matrix3f &R, const Vec3f &T, Vec3f *contact_points=NULL, unsigned int *num_contact_points=NULL, FCL_REAL *penetration_depth=NULL, Vec3f *normal=NULL) |
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static bool | intersect_Triangle (const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Vec3f &Q1, const Vec3f &Q2, const Vec3f &Q3, const Transform3f &tf, Vec3f *contact_points=NULL, unsigned int *num_contact_points=NULL, FCL_REAL *penetration_depth=NULL, Vec3f *normal=NULL) |
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static void | clipTriangleByTriangleAndEdgePlanes (const Vec3f &v1, const Vec3f &v2, const Vec3f &v3, const Vec3f &t1, const Vec3f &t2, const Vec3f &t3, const Vec3f &tn, FCL_REAL to, Vec3f clipped_points[], unsigned int *num_clipped_points, bool clip_triangle=false) |
| clip triangle v1, v2, v3 by the prism made by t1, t2 and t3. The normal of the prism is tn and is cutted up by to More...
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static bool | buildTrianglePlane (const Vec3f &v1, const Vec3f &v2, const Vec3f &v3, Vec3f *n, FCL_REAL *t) |
| build a plane passed through triangle v1 v2 v3 More...
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CCD intersect kernel among primitives.