FCL
0.6.0
Flexible Collision Library

Compute the motion bound for a triangle along a given direction n according to mu < v * n + w x n(maxci*) where ci* = R0(ci) x w / w. w is the angular velocity and ci are the triangle vertex coordinates. Notice that the triangle is in the local frame of the object, but n should be in the global frame (the reason is that the motion (t1, t2 and t) is in global frame) More...
#include <triangle_motion_bound_visitorinl.h>
Static Public Member Functions  
static S  run (const TriangleMotionBoundVisitor< S > &visitor, const InterpMotion< S > &motion) 
Compute the motion bound for a triangle along a given direction n according to mu < v * n + w x n(maxci*) where ci* = R0(ci) x w / w. w is the angular velocity and ci are the triangle vertex coordinates. Notice that the triangle is in the local frame of the object, but n should be in the global frame (the reason is that the motion (t1, t2 and t) is in global frame)