project.h

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#ifndef FCL_NARROWPHASE_DETAIL_PROJECT_H
#define FCL_NARROWPHASE_DETAIL_PROJECT_H
 
#include "fcl/common/types.h"
#include "fcl/math/geometry.h"
 
namespace fcl
{
 
namespace detail
{
 
template <typename S>
class FCL_EXPORT Project
{
public:
  struct ProjectResult
  {
    S parameterization[4];
 
    S sqr_distance;
 
    unsigned int encode;
 
    ProjectResult();
  };
 
  static ProjectResult projectLine(const Vector3<S>& a, const Vector3<S>& b, const Vector3<S>& p);
 
  static ProjectResult projectTriangle(const Vector3<S>& a, const Vector3<S>& b, const Vector3<S>& c, const Vector3<S>& p);
 
  static ProjectResult projectTetrahedra(const Vector3<S>& a, const Vector3<S>& b, const Vector3<S>& c, const Vector3<S>& d, const Vector3<S>& p);
 
  static ProjectResult projectLineOrigin(const Vector3<S>& a, const Vector3<S>& b);
 
  static ProjectResult projectTriangleOrigin(const Vector3<S>& a, const Vector3<S>& b, const Vector3<S>& c);
 
  static ProjectResult projectTetrahedraOrigin(const Vector3<S>& a, const Vector3<S>& b, const Vector3<S>& c, const Vector3<S>& d);
};
 
using Projectf = Project<float>;
using Projectd = Project<double>;
 
} // namespace detail
} // namespace fcl
 
#include "fcl/math/detail/project-inl.h"
 
#endif