sphere_triangle.h
Go to the documentation of this file.
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2011-2014, Willow Garage, Inc.
5  * Copyright (c) 2014-2016, Open Source Robotics Foundation
6  * All rights reserved.
7  *
8  * Redistribution and use in source and binary forms, with or without
9  * modification, are permitted provided that the following conditions
10  * are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * * Neither the name of Open Source Robotics Foundation nor the names of its
19  * contributors may be used to endorse or promote products derived
20  * from this software without specific prior written permission.
21  *
22  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33  * POSSIBILITY OF SUCH DAMAGE.
34  */
35 
38 #ifndef FCL_NARROWPHASE_DETAIL_SPHERETRIANGLE_H
39 #define FCL_NARROWPHASE_DETAIL_SPHERETRIANGLE_H
40 
43 
44 namespace fcl
45 {
46 
47 namespace detail
48 {
49 
51 template <typename S>
52 FCL_EXPORT
53 S segmentSqrDistance(const Vector3<S>& from, const Vector3<S>& to,const Vector3<S>& p, Vector3<S>& nearest);
54 
56 template <typename S>
57 FCL_EXPORT
58 bool projectInTriangle(const Vector3<S>& p1, const Vector3<S>& p2, const Vector3<S>& p3, const Vector3<S>& normal, const Vector3<S>& p);
59 
60 template <typename S>
61 FCL_EXPORT
62 bool sphereTriangleIntersect(const Sphere<S>& s, const Transform3<S>& tf,
63  const Vector3<S>& P1, const Vector3<S>& P2, const Vector3<S>& P3, Vector3<S>* contact_points, S* penetration_depth, Vector3<S>* normal_);
64 
65 template <typename S>
66 FCL_EXPORT
67 bool sphereTriangleDistance(const Sphere<S>& sp, const Transform3<S>& tf,
68  const Vector3<S>& P1, const Vector3<S>& P2, const Vector3<S>& P3,
69  S* dist);
70 
71 template <typename S>
72 FCL_EXPORT
73 bool sphereTriangleDistance(const Sphere<S>& sp, const Transform3<S>& tf,
74  const Vector3<S>& P1, const Vector3<S>& P2, const Vector3<S>& P3,
75  S* dist, Vector3<S>* p1, Vector3<S>* p2);
76 
77 template <typename S>
78 FCL_EXPORT
79 bool sphereTriangleDistance(const Sphere<S>& sp, const Transform3<S>& tf1,
80  const Vector3<S>& P1, const Vector3<S>& P2, const Vector3<S>& P3, const Transform3<S>& tf2,
81  S* dist, Vector3<S>* p1, Vector3<S>* p2);
82 
83 } // namespace detail
84 } // namespace fcl
85 
87 
88 #endif
sphere.h
fcl::detail::projectInTriangle
template bool projectInTriangle(const Vector3< double > &p1, const Vector3< double > &p2, const Vector3< double > &p3, const Vector3< double > &normal, const Vector3< double > &p)
fcl::detail::sphereTriangleIntersect
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_)
fcl::detail::sphereTriangleDistance
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)
contact_point.h
fcl::detail::segmentSqrDistance
template double segmentSqrDistance(const Vector3< double > &from, const Vector3< double > &to, const Vector3< double > &p, Vector3< double > &nearest)
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
sphere_triangle-inl.h


fcl
Author(s):
autogenerated on Tue Dec 5 2023 03:40:49