FCL  0.6.0 Flexible Collision Library
fcl::detail::TriangleDistance< S > Class Template Reference

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, const Vector3< S > T2, 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, const Vector3< S > T2, 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, const Vector3< S > T2, 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)

## Detailed Description

### template<typename S> class fcl::detail::TriangleDistance< S >

Triangle distance functions.

The documentation for this class was generated from the following files: