38 #ifndef HPP_FCL_INTERSECT_H
39 #define HPP_FCL_INTERSECT_H
44 #include <boost/math/special_functions/erf.hpp>
55 static bool buildTrianglePlane
74 ProjectResult() : sqr_distance(-1), encode(0)
80 static ProjectResult projectLine(
const Vec3f& a,
const Vec3f& b,
const Vec3f& p);
83 static ProjectResult projectTriangle(
const Vec3f& a,
const Vec3f& b,
const Vec3f& c,
const Vec3f& p);
89 static ProjectResult projectLineOrigin(
const Vec3f& a,
const Vec3f& b);
92 static ProjectResult projectTriangleOrigin(
const Vec3f& a,
const Vec3f& b,
const Vec3f& c);
95 static ProjectResult projectTetrahedraOrigin(
const Vec3f& a,
const Vec3f& b,
const Vec3f& c,
const Vec3f& d);
99 class TriangleDistance
153 const Transform3f& tf,
186 const Transform3f& tf,