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.

Enumerations
enum
Functions
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_depth (const Vector3 &ip, 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, 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_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_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)

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Enumeration Type Documentation

anonymous enum

Definition at line 38 of file TriOverlap.cpp.

---

Function Documentation

static double calc_depth	(	const Vector3 &	ip1,
		const Vector3 &	ip2,
		const Vector3 &	n
	)		[inline, static]

Definition at line 156 of file TriOverlap.cpp.

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.

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.

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.

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.

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.

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.

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.

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

Definition at line 201 of file TriOverlap.cpp.

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.

static void find_intersection_pt	(	Vector3 &	ipt,
		const Vector3 &	x1,
		const Vector3 &	x2,
		double	p
	)		[inline, static]

Definition at line 135 of file TriOverlap.cpp.

static int get_normal_vector_test	(	const Vector3 &	ip1,
		const Vector3 &	v1,
		const Vector3 &	ip2,
		const Vector3 &	v2,
		const Vector3 &	n1,
		const Vector3 &	m1
	)		[inline, static]

Definition at line 362 of file TriOverlap.cpp.

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.

static int separability_test_by_face

(

const Vector3 &

nm

)

[static]

Definition at line 56 of file TriOverlap.cpp.

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.

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.