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| static void | segPoints (const Vector3< S > &P, const Vector3< S > &A, const Vector3< S > &Q, const Vector3< S > &B, Vector3< S > &VEC, Vector3< S > &X, Vector3< S > &Y) |
| | Returns closest points between an segment pair. The first segment is P + t * A The second segment is Q + t * B X, Y are the closest points on the two segments VEC is the vector between X and Y. More...
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| static S | triDistance (const Vector3< S > &S1, const Vector3< S > &S2, const Vector3< S > &S3, const Vector3< S > &T1, const Vector3< S > &T2, const Vector3< S > &T3, const Matrix3< S > &R, const Vector3< S > &Tl, Vector3< S > &P, Vector3< S > &Q) |
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| static S | triDistance (const Vector3< S > &S1, const Vector3< S > &S2, const Vector3< S > &S3, const Vector3< S > &T1, const Vector3< S > &T2, const Vector3< S > &T3, const Transform3< S > &tf, Vector3< S > &P, Vector3< S > &Q) |
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| static S | triDistance (const Vector3< S > &S1, const Vector3< S > &S2, const Vector3< S > &S3, const Vector3< S > &T1, const Vector3< S > &T2, const Vector3< S > &T3, Vector3< S > &P, Vector3< S > &Q) |
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| static S | triDistance (const Vector3< S > T1[3], const Vector3< S > T2[3], const Matrix3< S > &R, const Vector3< S > &Tl, Vector3< S > &P, Vector3< S > &Q) |
| | Compute the closest points on two triangles given the relative transform between them, and returns the distance between them T1 and T2 are two triangles If the triangles are disjoint, P and Q give the closet points of T1 and T2 respectively. However, if the triangles overlap, P and Q are basically a random pair of points from the triangles, not coincident points on the intersection of the triangles, as might be expected. The returned P and Q are both in the coordinate of the first triangle's coordinate. More...
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| static S | triDistance (const Vector3< S > T1[3], const Vector3< S > T2[3], const Transform3< S > &tf, Vector3< S > &P, Vector3< S > &Q) |
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| static S | triDistance (const Vector3< S > T1[3], const Vector3< S > T2[3], Vector3< S > &P, Vector3< S > &Q) |
| | Compute the closest points on two triangles given their absolute coordinate, and returns the distance between them T1 and T2 are two triangles If the triangles are disjoint, P and Q give the closet points of T1 and T2 respectively. However, if the triangles overlap, P and Q are basically a random pair of points from the triangles, not coincident points on the intersection of the triangles, as might be expected. More...
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template<typename S>
class fcl::detail::TriangleDistance< S >
Triangle distance functions.
Definition at line 51 of file triangle_distance.h.
Compute the closest points on two triangles given the relative transform between them, and returns the distance between them T1 and T2 are two triangles If the triangles are disjoint, P and Q give the closet points of T1 and T2 respectively. However, if the triangles overlap, P and Q are basically a random pair of points from the triangles, not coincident points on the intersection of the triangles, as might be expected. The returned P and Q are both in the coordinate of the first triangle's coordinate.
Definition at line 412 of file triangle_distance-inl.h.
Compute the closest points on two triangles given their absolute coordinate, and returns the distance between them T1 and T2 are two triangles If the triangles are disjoint, P and Q give the closet points of T1 and T2 respectively. However, if the triangles overlap, P and Q are basically a random pair of points from the triangles, not coincident points on the intersection of the triangles, as might be expected.
Definition at line 171 of file triangle_distance-inl.h.