#include <intersect.h>
Static Public Member Functions | |
| static void | segPoints (const Vec3f &P, const Vec3f &A, const Vec3f &Q, const Vec3f &B, Vec3f &VEC, Vec3f &X, Vec3f &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. | |
| static FCL_REAL | triDistance (const Vec3f S[3], const Vec3f T[3], Vec3f &P, Vec3f &Q) |
| Compute the closest points on two triangles given their absolute coordinate, and returns the distance between them S and T are two triangles If the triangles are disjoint, P and Q give the closet points of S and T 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. | |
| static FCL_REAL | triDistance (const Vec3f &S1, const Vec3f &S2, const Vec3f &S3, const Vec3f &T1, const Vec3f &T2, const Vec3f &T3, Vec3f &P, Vec3f &Q) |
| static FCL_REAL | triDistance (const Vec3f S[3], const Vec3f T[3], const Matrix3f &R, const Vec3f &Tl, Vec3f &P, Vec3f &Q) |
| Compute the closest points on two triangles given the relative transform between them, and returns the distance between them S and T are two triangles If the triangles are disjoint, P and Q give the closet points of S and T 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. | |
| static FCL_REAL | triDistance (const Vec3f &S1, const Vec3f &S2, const Vec3f &S3, const Vec3f &T1, const Vec3f &T2, const Vec3f &T3, const Matrix3f &R, const Vec3f &Tl, Vec3f &P, Vec3f &Q) |
Definition at line 249 of file intersect.h.
| void fcl::TriangleDistance::segPoints | ( | const Vec3f & | P, |
| const Vec3f & | A, | ||
| const Vec3f & | Q, | ||
| const Vec3f & | B, | ||
| Vec3f & | VEC, | ||
| Vec3f & | X, | ||
| Vec3f & | Y | ||
| ) | [static] |
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.
Definition at line 1174 of file intersect.cpp.
| FCL_REAL fcl::TriangleDistance::triDistance | ( | const Vec3f | S[3], |
| const Vec3f | T[3], | ||
| Vec3f & | P, | ||
| Vec3f & | Q | ||
| ) | [static] |
Compute the closest points on two triangles given their absolute coordinate, and returns the distance between them S and T are two triangles If the triangles are disjoint, P and Q give the closet points of S and T 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 1289 of file intersect.cpp.
| FCL_REAL fcl::TriangleDistance::triDistance | ( | const Vec3f & | S1, |
| const Vec3f & | S2, | ||
| const Vec3f & | S3, | ||
| const Vec3f & | T1, | ||
| const Vec3f & | T2, | ||
| const Vec3f & | T3, | ||
| Vec3f & | P, | ||
| Vec3f & | Q | ||
| ) | [static] |
Definition at line 1512 of file intersect.cpp.
| FCL_REAL fcl::TriangleDistance::triDistance | ( | const Vec3f | S[3], |
| const Vec3f | T[3], | ||
| const Matrix3f & | R, | ||
| const Vec3f & | Tl, | ||
| Vec3f & | P, | ||
| Vec3f & | Q | ||
| ) | [static] |
Compute the closest points on two triangles given the relative transform between them, and returns the distance between them S and T are two triangles If the triangles are disjoint, P and Q give the closet points of S and T 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 1524 of file intersect.cpp.
| FCL_REAL fcl::TriangleDistance::triDistance | ( | const Vec3f & | S1, |
| const Vec3f & | S2, | ||
| const Vec3f & | S3, | ||
| const Vec3f & | T1, | ||
| const Vec3f & | T2, | ||
| const Vec3f & | T3, | ||
| const Matrix3f & | R, | ||
| const Vec3f & | Tl, | ||
| Vec3f & | P, | ||
| Vec3f & | Q | ||
| ) | [static] |
Definition at line 1536 of file intersect.cpp.
