project.h
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35 
38 #ifndef FCL_NARROWPHASE_DETAIL_PROJECT_H
39 #define FCL_NARROWPHASE_DETAIL_PROJECT_H
40 
41 #include "fcl/common/types.h"
42 #include "fcl/math/geometry.h"
43 
44 namespace fcl
45 {
46 
47 namespace detail
48 {
49 
51 template <typename S>
52 class FCL_EXPORT Project
53 {
54 public:
56  {
58  S parameterization[4];
59 
62 
64  unsigned int encode;
65 
66  ProjectResult();
67  };
68 
70  static ProjectResult projectLine(const Vector3<S>& a, const Vector3<S>& b, const Vector3<S>& p);
71 
73  static ProjectResult projectTriangle(const Vector3<S>& a, const Vector3<S>& b, const Vector3<S>& c, const Vector3<S>& p);
74 
76  static ProjectResult projectTetrahedra(const Vector3<S>& a, const Vector3<S>& b, const Vector3<S>& c, const Vector3<S>& d, const Vector3<S>& p);
77 
79  static ProjectResult projectLineOrigin(const Vector3<S>& a, const Vector3<S>& b);
80 
82  static ProjectResult projectTriangleOrigin(const Vector3<S>& a, const Vector3<S>& b, const Vector3<S>& c);
83 
85  static ProjectResult projectTetrahedraOrigin(const Vector3<S>& a, const Vector3<S>& b, const Vector3<S>& c, const Vector3<S>& d);
86 };
87 
90 
91 } // namespace detail
92 } // namespace fcl
93 
95 
96 #endif
geometry.h
types.h
fcl::detail::Project::ProjectResult::encode
unsigned int encode
the code of the projection type
Definition: project.h:64
project-inl.h
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
fcl::detail::Project
Project functions.
Definition: project.h:52
fcl::detail::Project::ProjectResult
Definition: project.h:55
fcl::detail::Project::ProjectResult::sqr_distance
S sqr_distance
square distance from the query point to the projected simplex
Definition: project.h:61
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


fcl
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autogenerated on Fri Apr 2 2021 02:38:00