FCL  0.6.0
Flexible Collision Library
triangle_distance.h
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35 
38 #ifndef FCL_NARROWPHASE_DETAIL_TRIANGLEDISTANCE_H
39 #define FCL_NARROWPHASE_DETAIL_TRIANGLEDISTANCE_H
40 
41 #include "fcl/common/types.h"
42 
43 namespace fcl
44 {
45 
46 namespace detail
47 {
48 
50 template <typename S>
52 {
53 public:
54 
60  static void segPoints(const Vector3<S>& P, const Vector3<S>& A, const Vector3<S>& Q, const Vector3<S>& B,
61  Vector3<S>& VEC, Vector3<S>& X, Vector3<S>& Y);
62 
68  static S triDistance(const Vector3<S> T1[3], const Vector3<S> T2[3], Vector3<S>& P, Vector3<S>& Q);
69 
70  static S triDistance(const Vector3<S>& S1, const Vector3<S>& S2, const Vector3<S>& S3,
71  const Vector3<S>& T1, const Vector3<S>& T2, const Vector3<S>& T3,
72  Vector3<S>& P, Vector3<S>& Q);
73 
80  static S triDistance(const Vector3<S> T1[3], const Vector3<S> T2[3],
81  const Matrix3<S>& R, const Vector3<S>& Tl,
82  Vector3<S>& P, Vector3<S>& Q);
83 
84  static S triDistance(const Vector3<S> T1[3], const Vector3<S> T2[3],
85  const Transform3<S>& tf,
86  Vector3<S>& P, Vector3<S>& Q);
87 
88  static S triDistance(const Vector3<S>& S1, const Vector3<S>& S2, const Vector3<S>& S3,
89  const Vector3<S>& T1, const Vector3<S>& T2, const Vector3<S>& T3,
90  const Matrix3<S>& R, const Vector3<S>& Tl,
91  Vector3<S>& P, Vector3<S>& Q);
92 
93  static S triDistance(
94  const Vector3<S>& S1,
95  const Vector3<S>& S2,
96  const Vector3<S>& S3,
97  const Vector3<S>& T1,
98  const Vector3<S>& T2,
99  const Vector3<S>& T3,
100  const Transform3<S>& tf,
101  Vector3<S>& P,
102  Vector3<S>& Q);
103 
104 };
105 
108 
109 } // namespace detail
110 } // namespace fcl
111 
112 #include "fcl/narrowphase/detail/primitive_shape_algorithm/triangle_distance-inl.h"
113 
114 #endif
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
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 ...
Definition: triangle_distance-inl.h:55
Triangle distance functions.
Definition: triangle_distance.h:51
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...
Definition: triangle_distance-inl.h:171