rtabmap: intersect.hpp Source File

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00039 #pragma once
00040 
00041 // Dependency:
00042 #include "../glm.hpp"
00043 #include "../gtx/closest_point.hpp"
00044 
00045 #if(defined(GLM_MESSAGES) && !defined(GLM_EXT_INCLUDED))
00046 #       pragma message("GLM: GLM_GTX_closest_point extension included")
00047 #endif
00048 
00049 namespace glm
00050 {
00053 
00057         template <typename genType>
00058         GLM_FUNC_DECL bool intersectRayPlane(
00059                 genType const & orig, genType const & dir,
00060                 genType const & planeOrig, genType const & planeNormal,
00061                 typename genType::value_type & intersectionDistance);
00062 
00065         template <typename genType>
00066         GLM_FUNC_DECL bool intersectRayTriangle(
00067                 genType const & orig, genType const & dir,
00068                 genType const & vert0, genType const & vert1, genType const & vert2,
00069                 genType & baryPosition);
00070 
00073         template <typename genType>
00074         GLM_FUNC_DECL bool intersectLineTriangle(
00075                 genType const & orig, genType const & dir,
00076                 genType const & vert0, genType const & vert1, genType const & vert2,
00077                 genType & position);
00078 
00082         template <typename genType>
00083         GLM_FUNC_DECL bool intersectRaySphere(
00084                 genType const & rayStarting, genType const & rayNormalizedDirection,
00085                 genType const & sphereCenter, typename genType::value_type const sphereRadiusSquered,
00086                 typename genType::value_type & intersectionDistance);
00087 
00090         template <typename genType>
00091         GLM_FUNC_DECL bool intersectRaySphere(
00092                 genType const & rayStarting, genType const & rayNormalizedDirection,
00093                 genType const & sphereCenter, const typename genType::value_type sphereRadius,
00094                 genType & intersectionPosition, genType & intersectionNormal);
00095 
00098         template <typename genType>
00099         GLM_FUNC_DECL bool intersectLineSphere(
00100                 genType const & point0, genType const & point1,
00101                 genType const & sphereCenter, typename genType::value_type sphereRadius,
00102                 genType & intersectionPosition1, genType & intersectionNormal1, 
00103                 genType & intersectionPosition2 = genType(), genType & intersectionNormal2 = genType());
00104 
00106 }//namespace glm
00107 
00108 #include "intersect.inl"