.. _program_listing_file__tmp_ws_src_hpp-fcl_include_hpp_fcl_internal_intersect.h:

Program Listing for File intersect.h
====================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_hpp-fcl_include_hpp_fcl_internal_intersect.h>` (``/tmp/ws/src/hpp-fcl/include/hpp/fcl/internal/intersect.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Software License Agreement (BSD License)
    *
    *  Copyright (c) 2011-2014, Willow Garage, Inc.
    *  Copyright (c) 2014-2015, Open Source Robotics Foundation
    *  All rights reserved.
    *
    *  Redistribution and use in source and binary forms, with or without
    *  modification, are permitted provided that the following conditions
    *  are met:
    *
    *   * Redistributions of source code must retain the above copyright
    *     notice, this list of conditions and the following disclaimer.
    *   * Redistributions in binary form must reproduce the above
    *     copyright notice, this list of conditions and the following
    *     disclaimer in the documentation and/or other materials provided
    *     with the distribution.
    *   * Neither the name of Open Source Robotics Foundation nor the names of its
    *     contributors may be used to endorse or promote products derived
    *     from this software without specific prior written permission.
    *
    *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
    *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
    *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
    *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
    *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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    *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
    *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
    *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
    *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
    *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
    *  POSSIBILITY OF SUCH DAMAGE.
    */
   
   #ifndef HPP_FCL_INTERSECT_H
   #define HPP_FCL_INTERSECT_H
   
   
   #include <hpp/fcl/math/transform.h>
   
   namespace hpp {
   namespace fcl {
   
   class HPP_FCL_DLLAPI Intersect {
    public:
     static bool buildTrianglePlane(const Vec3f& v1, const Vec3f& v2,
                                    const Vec3f& v3, Vec3f* n, FCL_REAL* t);
   };  // class Intersect
   
   class HPP_FCL_DLLAPI Project {
    public:
     struct HPP_FCL_DLLAPI ProjectResult {
       FCL_REAL parameterization[4];
   
       FCL_REAL sqr_distance;
   
       unsigned int encode;
   
       ProjectResult() : sqr_distance(-1), encode(0) {}
     };
   
     static ProjectResult projectLine(const Vec3f& a, const Vec3f& b,
                                      const Vec3f& p);
   
     static ProjectResult projectTriangle(const Vec3f& a, const Vec3f& b,
                                          const Vec3f& c, const Vec3f& p);
   
     static ProjectResult projectTetrahedra(const Vec3f& a, const Vec3f& b,
                                            const Vec3f& c, const Vec3f& d,
                                            const Vec3f& p);
   
     static ProjectResult projectLineOrigin(const Vec3f& a, const Vec3f& b);
   
     static ProjectResult projectTriangleOrigin(const Vec3f& a, const Vec3f& b,
                                                const Vec3f& c);
   
     static ProjectResult projectTetrahedraOrigin(const Vec3f& a, const Vec3f& b,
                                                  const Vec3f& c, const Vec3f& d);
   };
   
   class HPP_FCL_DLLAPI TriangleDistance {
    public:
     static void segPoints(const Vec3f& P, const Vec3f& A, const Vec3f& Q,
                           const Vec3f& B, Vec3f& VEC, Vec3f& X, Vec3f& Y);
   
     static FCL_REAL sqrTriDistance(const Vec3f S[3], const Vec3f T[3], Vec3f& P,
                                    Vec3f& Q);
   
     static FCL_REAL sqrTriDistance(const Vec3f& S1, const Vec3f& S2,
                                    const Vec3f& S3, const Vec3f& T1,
                                    const Vec3f& T2, const Vec3f& T3, Vec3f& P,
                                    Vec3f& Q);
   
     static FCL_REAL sqrTriDistance(const Vec3f S[3], const Vec3f T[3],
                                    const Matrix3f& R, const Vec3f& Tl, Vec3f& P,
                                    Vec3f& Q);
   
     static FCL_REAL sqrTriDistance(const Vec3f S[3], const Vec3f T[3],
                                    const Transform3f& tf, Vec3f& P, Vec3f& Q);
   
     static FCL_REAL sqrTriDistance(const Vec3f& S1, const Vec3f& S2,
                                    const Vec3f& S3, const Vec3f& T1,
                                    const Vec3f& T2, const Vec3f& T3,
                                    const Matrix3f& R, const Vec3f& Tl, Vec3f& P,
                                    Vec3f& Q);
   
     static FCL_REAL sqrTriDistance(const Vec3f& S1, const Vec3f& S2,
                                    const Vec3f& S3, const Vec3f& T1,
                                    const Vec3f& T2, const Vec3f& T3,
                                    const Transform3f& tf, Vec3f& P, Vec3f& Q);
   };
   
   }  // namespace fcl
   
   }  // namespace hpp
   
   
   #endif