intersect.h
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35 
38 #ifndef HPP_FCL_INTERSECT_H
39 #define HPP_FCL_INTERSECT_H
40 
42 
43 #include <hpp/fcl/math/transform.h>
44 
45 namespace hpp {
46 namespace fcl {
47 
49 class HPP_FCL_DLLAPI Intersect {
50  public:
51  static bool buildTrianglePlane(const Vec3f& v1, const Vec3f& v2,
52  const Vec3f& v3, Vec3f* n, FCL_REAL* t);
53 }; // class Intersect
54 
56 class HPP_FCL_DLLAPI Project {
57  public:
58  struct HPP_FCL_DLLAPI ProjectResult {
61  FCL_REAL parameterization[4];
62 
64  FCL_REAL sqr_distance;
65 
67  unsigned int encode;
68 
69  ProjectResult() : sqr_distance(-1), encode(0) {}
70  };
71 
73  static ProjectResult projectLine(const Vec3f& a, const Vec3f& b,
74  const Vec3f& p);
75 
77  static ProjectResult projectTriangle(const Vec3f& a, const Vec3f& b,
78  const Vec3f& c, const Vec3f& p);
79 
81  static ProjectResult projectTetrahedra(const Vec3f& a, const Vec3f& b,
82  const Vec3f& c, const Vec3f& d,
83  const Vec3f& p);
84 
86  static ProjectResult projectLineOrigin(const Vec3f& a, const Vec3f& b);
87 
89  static ProjectResult projectTriangleOrigin(const Vec3f& a, const Vec3f& b,
90  const Vec3f& c);
91 
93  static ProjectResult projectTetrahedraOrigin(const Vec3f& a, const Vec3f& b,
94  const Vec3f& c, const Vec3f& d);
95 };
96 
98 class HPP_FCL_DLLAPI TriangleDistance {
99  public:
105  static void segPoints(const Vec3f& P, const Vec3f& A, const Vec3f& Q,
106  const Vec3f& B, Vec3f& VEC, Vec3f& X, Vec3f& Y);
107 
117  static FCL_REAL sqrTriDistance(const Vec3f S[3], const Vec3f T[3], Vec3f& P,
118  Vec3f& Q);
119 
120  static FCL_REAL sqrTriDistance(const Vec3f& S1, const Vec3f& S2,
121  const Vec3f& S3, const Vec3f& T1,
122  const Vec3f& T2, const Vec3f& T3, Vec3f& P,
123  Vec3f& Q);
124 
135  static FCL_REAL sqrTriDistance(const Vec3f S[3], const Vec3f T[3],
136  const Matrix3f& R, const Vec3f& Tl, Vec3f& P,
137  Vec3f& Q);
138 
149  static FCL_REAL sqrTriDistance(const Vec3f S[3], const Vec3f T[3],
150  const Transform3f& tf, Vec3f& P, Vec3f& Q);
151 
162  static FCL_REAL sqrTriDistance(const Vec3f& S1, const Vec3f& S2,
163  const Vec3f& S3, const Vec3f& T1,
164  const Vec3f& T2, const Vec3f& T3,
165  const Matrix3f& R, const Vec3f& Tl, Vec3f& P,
166  Vec3f& Q);
167 
178  static FCL_REAL sqrTriDistance(const Vec3f& S1, const Vec3f& S2,
179  const Vec3f& S3, const Vec3f& T1,
180  const Vec3f& T2, const Vec3f& T3,
181  const Transform3f& tf, Vec3f& P, Vec3f& Q);
182 };
183 
184 } // namespace fcl
185 
186 } // namespace hpp
187 
189 
190 #endif
hpp::fcl::Vec3f
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:66
hpp::fcl::FCL_REAL
double FCL_REAL
Definition: data_types.h:65
hpp
Main namespace.
Definition: broadphase_bruteforce.h:44
hpp::fcl::Matrix3f
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:68
generate_distance_plot.b
float b
Definition: generate_distance_plot.py:7
transform.h
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hpp-fcl
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autogenerated on Fri Aug 2 2024 02:45:14