coal/internal/intersect.h

Go to the documentation of this file.

/*
 * 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,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  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 COAL_INTERSECT_H
#define COAL_INTERSECT_H
 
 
#include "coal/math/transform.h"
 
namespace coal {
 
class COAL_DLLAPI Intersect {
 public:
  static bool buildTrianglePlane(const Vec3s& v1, const Vec3s& v2,
                                 const Vec3s& v3, Vec3s* n, CoalScalar* t);
};  // class Intersect
 
class COAL_DLLAPI Project {
 public:
  struct COAL_DLLAPI ProjectResult {
    CoalScalar parameterization[4];
 
    CoalScalar sqr_distance;
 
    unsigned int encode;
 
    ProjectResult() : sqr_distance(-1), encode(0) {}
  };
 
  static ProjectResult projectLine(const Vec3s& a, const Vec3s& b,
                                   const Vec3s& p);
 
  static ProjectResult projectTriangle(const Vec3s& a, const Vec3s& b,
                                       const Vec3s& c, const Vec3s& p);
 
  static ProjectResult projectTetrahedra(const Vec3s& a, const Vec3s& b,
                                         const Vec3s& c, const Vec3s& d,
                                         const Vec3s& p);
 
  static ProjectResult projectLineOrigin(const Vec3s& a, const Vec3s& b);
 
  static ProjectResult projectTriangleOrigin(const Vec3s& a, const Vec3s& b,
                                             const Vec3s& c);
 
  static ProjectResult projectTetrahedraOrigin(const Vec3s& a, const Vec3s& b,
                                               const Vec3s& c, const Vec3s& d);
};
 
class COAL_DLLAPI TriangleDistance {
 public:
  static void segPoints(const Vec3s& P, const Vec3s& A, const Vec3s& Q,
                        const Vec3s& B, Vec3s& VEC, Vec3s& X, Vec3s& Y);
 
  static CoalScalar sqrTriDistance(const Vec3s S[3], const Vec3s T[3], Vec3s& P,
                                   Vec3s& Q);
 
  static CoalScalar sqrTriDistance(const Vec3s& S1, const Vec3s& S2,
                                   const Vec3s& S3, const Vec3s& T1,
                                   const Vec3s& T2, const Vec3s& T3, Vec3s& P,
                                   Vec3s& Q);
 
  static CoalScalar sqrTriDistance(const Vec3s S[3], const Vec3s T[3],
                                   const Matrix3s& R, const Vec3s& Tl, Vec3s& P,
                                   Vec3s& Q);
 
  static CoalScalar sqrTriDistance(const Vec3s S[3], const Vec3s T[3],
                                   const Transform3s& tf, Vec3s& P, Vec3s& Q);
 
  static CoalScalar sqrTriDistance(const Vec3s& S1, const Vec3s& S2,
                                   const Vec3s& S3, const Vec3s& T1,
                                   const Vec3s& T2, const Vec3s& T3,
                                   const Matrix3s& R, const Vec3s& Tl, Vec3s& P,
                                   Vec3s& Q);
 
  static CoalScalar sqrTriDistance(const Vec3s& S1, const Vec3s& S2,
                                   const Vec3s& S3, const Vec3s& T1,
                                   const Vec3s& T2, const Vec3s& T3,
                                   const Transform3s& tf, Vec3s& P, Vec3s& Q);
};
 
}  // namespace coal
 
 
#endif