Program Listing for File intersect.h
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#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