/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/triangle_inl.h File Reference

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Functions
double	Clamp (double n, double min, double max)
position	closestPtTriangle (const Triangle &t, const position &p)
double	gmax (double d1, double d2, double d3)
double	gmin (double d1, double d2, double d3)
int	project6 (const vec3 &ax, const vec3 &p1, const vec3 &p2, const vec3 &p3, const vec3 &q1, const vec3 &q2, const vec3 &q3)
double	segmSegmDistanceSq (const position &p1, const position &q1, const position &p2, const position &q2, position &c1, position &c2)
bool	triangleIntersection (const Triangle &t1, const Triangle &t2)
int	triangleTriangleContact (const Triangle &t1, const Triangle &t2, double threshSq, std::vector< std::pair< position, position > > *contactPoints)
	Returns all the points on the two triangles separated by less than the threshold.
double	triangleTriangleDistanceSq (const Triangle &t1, const Triangle &t2, position &p1, position &p2)
	Returns the distance between the triangles as well as the two closest points on them.

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Detailed Description

Triangle functions to be inlined during release compilation. Do not put any of the necessary includes here, put them in both triangle.h and triangle.cpp instead.

Definition in file triangle_inl.h.

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Function Documentation

double Clamp	(	double	n,
		double	min,
		double	max
	)			[inline]

Definition at line 199 of file triangle_inl.h.

position closestPtTriangle	(	const Triangle &	t,
		const position &	p
	)

Code from REAL-TIME COLLISION DETECTION by Christer Ericson, published by Elsevier.

Definition at line 148 of file triangle_inl.h.

double gmax	(	double	d1,
		double	d2,
		double	d3
	)			[inline]

Definition at line 32 of file triangle_inl.h.

double gmin	(	double	d1,
		double	d2,
		double	d3
	)			[inline]

Definition at line 40 of file triangle_inl.h.

int project6	(	const vec3 &	ax,
		const vec3 &	p1,
		const vec3 &	p2,
		const vec3 &	p3,
		const vec3 &	q1,
		const vec3 &	q2,
		const vec3 &	q3
	)			[inline]

Definition at line 49 of file triangle_inl.h.

double segmSegmDistanceSq	(	const position &	p1,
		const position &	q1,
		const position &	p2,
		const position &	q2,
		position &	c1,
		position &	c2
	)			[inline]

Code from REAL-TIME COLLISION DETECTION by Christer Ericson, published by Elsevier.

Definition at line 208 of file triangle_inl.h.

bool triangleIntersection	(	const Triangle &	t1,
		const Triangle &	t2
	)

Definition at line 70 of file triangle_inl.h.

int triangleTriangleContact	(	const Triangle &	t1,
		const Triangle &	t2,
		double	threshSq,
		std::vector< std::pair< position, position > > *	contactPoints
	)

Returns all the points on the two triangles separated by less than the threshold.

Does all 6 vertex-face tests and all 9 edge-edge tests and adds to the report all distinct pairs of resulting points separated by less than the threshold. Returns the number of contact points, 0 if the triangles are not in contact and -1 if the triangles are in collision.

I have not tested all the obscure cases, and it seems that more involved collision detection engines put more intelligence into this. There might be strange (or degenerate) pieces of geometry where this had an unexpected result.

Definition at line 284 of file triangle_inl.h.

double triangleTriangleDistanceSq	(	const Triangle &	t1,
		const Triangle &	t2,
		position &	p1,
		position &	p2
	)

Returns the distance between the triangles as well as the two closest points on them.

Definition at line 405 of file triangle_inl.h.