38 #ifndef HPP_FCL_INTERSECT_H
39 #define HPP_FCL_INTERSECT_H
54 static bool buildTrianglePlane
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);
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);
152 const Transform3f& tf,
185 const Transform3f& tf,