triangle_distance.h

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#ifndef FCL_NARROWPHASE_DETAIL_TRIANGLEDISTANCE_H
#define FCL_NARROWPHASE_DETAIL_TRIANGLEDISTANCE_H

#include "fcl/common/types.h"

namespace fcl
{

namespace detail
{

template <typename S>
class TriangleDistance
{
public:

  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);

  static S triDistance(const Vector3<S> T1[3], const Vector3<S> T2[3], 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,
                              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);

  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);

};

using TriangleDistancef = TriangleDistance<float>;
using TriangleDistanced = TriangleDistance<double>;

} // namespace detail
} // namespace fcl

#include "fcl/narrowphase/detail/primitive_shape_algorithm/triangle_distance-inl.h"

#endif