project.h

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 *  Copyright (c) 2014-2016, Open Source Robotics Foundation
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#ifndef FCL_NARROWPHASE_DETAIL_PROJECT_H
#define FCL_NARROWPHASE_DETAIL_PROJECT_H

#include "fcl/common/types.h"
#include "fcl/math/geometry.h"

namespace fcl
{

namespace detail
{

template <typename S>
class Project
{
public:
  struct ProjectResult
  {
    S parameterization[4];

    S sqr_distance;

    unsigned int encode;

    ProjectResult();
  };

  static ProjectResult projectLine(const Vector3<S>& a, const Vector3<S>& b, const Vector3<S>& p);

  static ProjectResult projectTriangle(const Vector3<S>& a, const Vector3<S>& b, const Vector3<S>& c, const Vector3<S>& p);

  static ProjectResult projectTetrahedra(const Vector3<S>& a, const Vector3<S>& b, const Vector3<S>& c, const Vector3<S>& d, const Vector3<S>& p);

  static ProjectResult projectLineOrigin(const Vector3<S>& a, const Vector3<S>& b);

  static ProjectResult projectTriangleOrigin(const Vector3<S>& a, const Vector3<S>& b, const Vector3<S>& c);

  static ProjectResult projectTetrahedraOrigin(const Vector3<S>& a, const Vector3<S>& b, const Vector3<S>& c, const Vector3<S>& d);
};

using Projectf = Project<float>;
using Projectd = Project<double>;

} // namespace detail
} // namespace fcl

#include "fcl/math/detail/project-inl.h"

#endif