sphere_triangle.cpp

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#include "fcl/narrowphase/detail/primitive_shape_algorithm/sphere_triangle-inl.h"
 
namespace fcl
{
 
namespace detail
{
 
//==============================================================================
template
double segmentSqrDistance(const Vector3<double>& from, const Vector3<double>& to,const Vector3<double>& p, Vector3<double>& nearest);
 
//==============================================================================
template
bool projectInTriangle(const Vector3<double>& p1, const Vector3<double>& p2, const Vector3<double>& p3, const Vector3<double>& normal, const Vector3<double>& p);
 
//==============================================================================
template
bool sphereTriangleIntersect(const Sphere<double>& s, const Transform3<double>& tf,
                             const Vector3<double>& P1, const Vector3<double>& P2, const Vector3<double>& P3, Vector3<double>* contact_points, double* penetration_depth, Vector3<double>* normal_);
 
//==============================================================================
template
bool sphereTriangleDistance(const Sphere<double>& sp, const Transform3<double>& tf,
                            const Vector3<double>& P1, const Vector3<double>& P2, const Vector3<double>& P3,
                            double* dist);
 
//==============================================================================
template
bool sphereTriangleDistance(const Sphere<double>& sp, const Transform3<double>& tf,
                            const Vector3<double>& P1, const Vector3<double>& P2, const Vector3<double>& P3,
                            double* dist, Vector3<double>* p1, Vector3<double>* p2);
 
//==============================================================================
template
bool sphereTriangleDistance(const Sphere<double>& sp, const Transform3<double>& tf1,
                            const Vector3<double>& P1, const Vector3<double>& P2, const Vector3<double>& P3, const Transform3<double>& tf2,
                            double* dist, Vector3<double>* p1, Vector3<double>* p2);
 
} // namespace detail
} // namespace fcl