Functions
TriOverlap.cpp File Reference
#include "CollisionPairInserterBase.h"
#include <cmath>
#include <cstdio>
#include <iostream>
Include dependency graph for TriOverlap.cpp:

Go to the source code of this file.

Functions

static double calc_depth (const Vector3 &ip, const Vector3 &pt1, const Vector3 &pt2, const Vector3 &pt3, const Vector3 &n)
 
static double calc_depth (const Vector3 &ip1, const Vector3 &ip2, const Vector3 &n)
 
static double calc_depth (const Vector3 &ip1, const Vector3 &ip2, const Vector3 &pt1, const Vector3 &pt2, const Vector3 &pt3, const Vector3 &n)
 
static double calc_depth2 (const Vector3 &ip1, const Vector3 &ip2, const Vector3 &pt1, const Vector3 &pt2, const Vector3 &pt3, const Vector3 &n)
 
static void calcNormal (Vector3 &vec, const Vector3 &v1, const Vector3 &v2, const Vector3 &v3, double sgn)
 
static int find_collision_info (const Vector3 &p1, const Vector3 &p2, const Vector3 &p3, double mp0, double mp1, const Vector3 &q1, const Vector3 &q2, const Vector3 &q3, double nq0, double nq1, const Vector3 &ef11, const Vector3 &n1, const Vector3 &m1, Vector3 &ip3, Vector3 &ip4, collision_data *col_p, bool test_normal=true)
 
static int find_collision_info (const Vector3 &p1, const Vector3 &p2, const Vector3 &p3, double mp0, double mp1, double mp2, const Vector3 &q1, const Vector3 &q2, const Vector3 &q3, const Vector3 &f1, const Vector3 &f2, const Vector3 &f3, const Vector3 &n1, const Vector3 &m1, Vector3 &ip3, Vector3 &ip4, Vector3 &ip5, Vector3 &ip6, collision_data *col_p, double pq)
 
static int find_common_perpendicular (const Vector3 &p1, const Vector3 &p2, const Vector3 &q1, const Vector3 &q2, const Vector3 &ip1, const Vector3 &ip2, const Vector3 &n1, const Vector3 &m1, const Vector3 &n_vector, double &dp)
 
static void find_foot (const Vector3 &ip, const Vector3 &pt1, const Vector3 &pt2, Vector3 &f)
 
static void find_intersection_pt (Vector3 &ipt, const Vector3 &x1, const Vector3 &x2, double mn1, double mn2)
 
static void find_intersection_pt (Vector3 &ipt, const Vector3 &x1, const Vector3 &x2, double p)
 
static int get_normal_vector_test (const Vector3 &ip1, const Vector3 &v1, const Vector3 &ip2, const Vector3 &v2, const Vector3 &n1, const Vector3 &m1)
 
static int get_normal_vector_test (Vector3 &n_vector, const Vector3 &ef0, const Vector3 &ip, const Vector3 &iq, const Vector3 &v1, const Vector3 &v2, const Vector3 &n1, const Vector3 &m1, const Vector3 &va1, const Vector3 &va2, const Vector3 &vb1, const Vector3 &vb2)
 
static int separability_test_by_face (const Vector3 &nm)
 
HRP_COLLISION_EXPORT int tri_tri_overlap (const Vector3 &P1, const Vector3 &P2, const Vector3 &P3, const Vector3 &Q1, const Vector3 &Q2, const Vector3 &Q3, collision_data *col_p, CollisionPairInserterBase *collisionPairInserter)
 
static int triangle_inside_test (const Vector3 &ef1, const Vector3 &ef2, const Vector3 &ef3, const Vector3 &P3, const Vector3 &P1, const Vector3 &P2, const Vector3 &Q)
 

Function Documentation

◆ calc_depth() [1/3]

static double calc_depth ( const Vector3 ip,
const Vector3 pt1,
const Vector3 pt2,
const Vector3 pt3,
const Vector3 n 
)
static

Definition at line 224 of file TriOverlap.cpp.

◆ calc_depth() [2/3]

static double calc_depth ( const Vector3 ip1,
const Vector3 ip2,
const Vector3 n 
)
inlinestatic

Definition at line 156 of file TriOverlap.cpp.

◆ calc_depth() [3/3]

static double calc_depth ( const Vector3 ip1,
const Vector3 ip2,
const Vector3 pt1,
const Vector3 pt2,
const Vector3 pt3,
const Vector3 n 
)
static

Definition at line 171 of file TriOverlap.cpp.

◆ calc_depth2()

static double calc_depth2 ( const Vector3 ip1,
const Vector3 ip2,
const Vector3 pt1,
const Vector3 pt2,
const Vector3 pt3,
const Vector3 n 
)
static

Definition at line 266 of file TriOverlap.cpp.

◆ calcNormal()

static void calcNormal ( Vector3 vec,
const Vector3 v1,
const Vector3 v2,
const Vector3 v3,
double  sgn 
)
static

Definition at line 293 of file TriOverlap.cpp.

◆ find_collision_info() [1/2]

static int find_collision_info ( const Vector3 p1,
const Vector3 p2,
const Vector3 p3,
double  mp0,
double  mp1,
const Vector3 q1,
const Vector3 q2,
const Vector3 q3,
double  nq0,
double  nq1,
const Vector3 ef11,
const Vector3 n1,
const Vector3 m1,
Vector3 ip3,
Vector3 ip4,
collision_data col_p,
bool  test_normal = true 
)
static

Definition at line 622 of file TriOverlap.cpp.

◆ find_collision_info() [2/2]

static int find_collision_info ( const Vector3 p1,
const Vector3 p2,
const Vector3 p3,
double  mp0,
double  mp1,
double  mp2,
const Vector3 q1,
const Vector3 q2,
const Vector3 q3,
const Vector3 f1,
const Vector3 f2,
const Vector3 f3,
const Vector3 n1,
const Vector3 m1,
Vector3 ip3,
Vector3 ip4,
Vector3 ip5,
Vector3 ip6,
collision_data col_p,
double  pq 
)
static

Definition at line 565 of file TriOverlap.cpp.

◆ find_common_perpendicular()

static int find_common_perpendicular ( const Vector3 p1,
const Vector3 p2,
const Vector3 q1,
const Vector3 q2,
const Vector3 ip1,
const Vector3 ip2,
const Vector3 n1,
const Vector3 m1,
const Vector3 n_vector,
double &  dp 
)
static

Definition at line 310 of file TriOverlap.cpp.

◆ find_foot()

static void find_foot ( const Vector3 ip,
const Vector3 pt1,
const Vector3 pt2,
Vector3 f 
)
static

Definition at line 201 of file TriOverlap.cpp.

◆ find_intersection_pt() [1/2]

static void find_intersection_pt ( Vector3 ipt,
const Vector3 x1,
const Vector3 x2,
double  mn1,
double  mn2 
)
static

Definition at line 118 of file TriOverlap.cpp.

◆ find_intersection_pt() [2/2]

static void find_intersection_pt ( Vector3 ipt,
const Vector3 x1,
const Vector3 x2,
double  p 
)
inlinestatic

Definition at line 135 of file TriOverlap.cpp.

◆ get_normal_vector_test() [1/2]

static int get_normal_vector_test ( const Vector3 ip1,
const Vector3 v1,
const Vector3 ip2,
const Vector3 v2,
const Vector3 n1,
const Vector3 m1 
)
inlinestatic

Definition at line 362 of file TriOverlap.cpp.

◆ get_normal_vector_test() [2/2]

static int get_normal_vector_test ( Vector3 n_vector,
const Vector3 ef0,
const Vector3 ip,
const Vector3 iq,
const Vector3 v1,
const Vector3 v2,
const Vector3 n1,
const Vector3 m1,
const Vector3 va1,
const Vector3 va2,
const Vector3 vb1,
const Vector3 vb2 
)
static

Definition at line 384 of file TriOverlap.cpp.

◆ separability_test_by_face()

static int separability_test_by_face ( const Vector3 nm)
static

Definition at line 56 of file TriOverlap.cpp.

◆ tri_tri_overlap()

HRP_COLLISION_EXPORT int tri_tri_overlap ( const Vector3 P1,
const Vector3 P2,
const Vector3 P3,
const Vector3 Q1,
const Vector3 Q2,
const Vector3 Q3,
collision_data col_p,
CollisionPairInserterBase collisionPairInserter 
)

Definition at line 665 of file TriOverlap.cpp.

◆ triangle_inside_test()

static int triangle_inside_test ( const Vector3 ef1,
const Vector3 ef2,
const Vector3 ef3,
const Vector3 P3,
const Vector3 P1,
const Vector3 P2,
const Vector3 Q 
)
static

Definition at line 82 of file TriOverlap.cpp.



openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Wed Sep 7 2022 02:51:05