38 #ifndef HPP_FCL_INTERSECT_H 39 #define HPP_FCL_INTERSECT_H 49 class HPP_FCL_DLLAPI Intersect {
51 static bool buildTrianglePlane(
const Vec3f& v1,
const Vec3f& v2,
56 class HPP_FCL_DLLAPI Project {
58 struct HPP_FCL_DLLAPI ProjectResult {
69 ProjectResult() : sqr_distance(-1), encode(0) {}
73 static ProjectResult projectLine(
const Vec3f& a,
const Vec3f&
b,
77 static ProjectResult projectTriangle(
const Vec3f& a,
const Vec3f&
b,
81 static ProjectResult projectTetrahedra(
const Vec3f& a,
const Vec3f&
b,
86 static ProjectResult projectLineOrigin(
const Vec3f& a,
const Vec3f&
b);
89 static ProjectResult projectTriangleOrigin(
const Vec3f& a,
const Vec3f&
b,
93 static ProjectResult projectTetrahedraOrigin(
const Vec3f& a,
const Vec3f&
b,
98 class HPP_FCL_DLLAPI TriangleDistance {
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f