FCL
0.6.0
Flexible Collision Library

Triangle distance functions. More...
#include <triangle_distance.h>
Static Public Member Functions  
static void  segPoints (const Vector3< S > &P, const Vector3< S > &A, const Vector3< S > &Q, const Vector3< S > &B, Vector3< S > &VEC, Vector3< S > &X, Vector3< S > &Y) 
Returns closest points between an segment pair. The first segment is P + t * A The second segment is Q + t * B X, Y are the closest points on the two segments VEC is the vector between X and Y.  
static S  triDistance (const Vector3< S > T1[3], const Vector3< S > T2[3], Vector3< S > &P, Vector3< S > &Q) 
Compute the closest points on two triangles given their absolute coordinate, and returns the distance between them T1 and T2 are two triangles If the triangles are disjoint, P and Q give the closet points of T1 and T2 respectively. However, if the triangles overlap, P and Q are basically a random pair of points from the triangles, not coincident points on the intersection of the triangles, as might be expected.  
static S  triDistance (const Vector3< S > &S1, const Vector3< S > &S2, const Vector3< S > &S3, const Vector3< S > &T1, const Vector3< S > &T2, const Vector3< S > &T3, Vector3< S > &P, Vector3< S > &Q) 
static S  triDistance (const Vector3< S > T1[3], const Vector3< S > T2[3], const Matrix3< S > &R, const Vector3< S > &Tl, Vector3< S > &P, Vector3< S > &Q) 
Compute the closest points on two triangles given the relative transform between them, and returns the distance between them T1 and T2 are two triangles If the triangles are disjoint, P and Q give the closet points of T1 and T2 respectively. However, if the triangles overlap, P and Q are basically a random pair of points from the triangles, not coincident points on the intersection of the triangles, as might be expected. The returned P and Q are both in the coordinate of the first triangle's coordinate.  
static S  triDistance (const Vector3< S > T1[3], const Vector3< S > T2[3], const Transform3< S > &tf, Vector3< S > &P, Vector3< S > &Q) 
static S  triDistance (const Vector3< S > &S1, const Vector3< S > &S2, const Vector3< S > &S3, const Vector3< S > &T1, const Vector3< S > &T2, const Vector3< S > &T3, const Matrix3< S > &R, const Vector3< S > &Tl, Vector3< S > &P, Vector3< S > &Q) 
static S  triDistance (const Vector3< S > &S1, const Vector3< S > &S2, const Vector3< S > &S3, const Vector3< S > &T1, const Vector3< S > &T2, const Vector3< S > &T3, const Transform3< S > &tf, Vector3< S > &P, Vector3< S > &Q) 
Triangle distance functions.