HRP_COLLISION_EXPORT float SegSegDist(const Point &u0, const Point &u1, const Point &v0, const Point &v1)
compute distance between line segments
HRP_COLLISION_EXPORT float PointSegDist(const Point &P, const Point &u0, const Point &u1)
compute distance between a point and a line segment
HRP_COLLISION_EXPORT float TriTriDist(const Point &U0, const Point &U1, const Point &U2, const Point &V0, const Point &V1, const Point &V2, Point &cp0, Point &cp1)
compute the minimum distance and the closest points between two triangles