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