FCL  0.6.0
Flexible Collision Library
polysolver.h
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35 
38 #ifndef FCL_NARROWPHASE_DETAIL_POLYSOLVER_H
39 #define FCL_NARROWPHASE_DETAIL_POLYSOLVER_H
40 
41 namespace fcl
42 {
43 
44 namespace detail {
45 
47 template <typename S>
49 {
50 public:
52  static int solveLinear(S c[2], S s[1]);
53 
55  static int solveQuadric(S c[3], S s[2]);
56 
58  static int solveCubic(S c[4], S s[3]);
59 
60 private:
62  static bool isZero(S v);
63 
65  static bool cbrt(S v);
66 
67  static constexpr S getNearZeroThreshold();
68 };
69 
72 
73 } // namespace detail
74 } // namespace fcl
75 
76 #include "fcl/math/detail/polysolver-inl.h"
77 
78 #endif
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
static int solveQuadric(S c[3], S s[2])
Solve a quadratic function with coefficients c, return roots s and number of roots.
Definition: polysolver-inl.h:67
static int solveLinear(S c[2], S s[1])
Solve a linear equation with coefficients c, return roots s and number of roots.
Definition: polysolver-inl.h:57
A class solves polynomial degree (1,2,3) equations.
Definition: polysolver.h:48
static int solveCubic(S c[4], S s[3])
Solve a cubic function with coefficients c, return roots s and number of roots.
Definition: polysolver-inl.h:103