intersect.h

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#ifndef COAL_INTERSECT_H
#define COAL_INTERSECT_H
 
 
#include "coal/math/transform.h"
 
namespace coal {
 
class COAL_DLLAPI Intersect {
 public:
  static bool buildTrianglePlane(const Vec3s& v1, const Vec3s& v2,
                                 const Vec3s& v3, Vec3s* n, Scalar* t);
};  // class Intersect
 
template <typename _Scalar>
class Project {
 public:
  typedef _Scalar Scalar;
  typedef Eigen::Matrix<Scalar, 3, 1> Vec3;
 
  struct ProjectResult {
    Scalar parameterization[4];
 
    Scalar sqr_distance;
 
    unsigned int encode;
 
    ProjectResult() : sqr_distance(-1), encode(0) {}
  };
 
  static ProjectResult projectLine(const Vec3& a, const Vec3& b, const Vec3& p);
 
  static ProjectResult projectTriangle(const Vec3& a, const Vec3& b,
                                       const Vec3& c, const Vec3& p);
 
  static ProjectResult projectTetrahedra(const Vec3& a, const Vec3& b,
                                         const Vec3& c, const Vec3& d,
                                         const Vec3& p);
 
  static ProjectResult projectLineOrigin(const Vec3& a, const Vec3& b);
 
  static ProjectResult projectTriangleOrigin(const Vec3& a, const Vec3& b,
                                             const Vec3& c);
 
  static ProjectResult projectTetrahedraOrigin(const Vec3& a, const Vec3& b,
                                               const Vec3& c, const Vec3& d);
};
 
class COAL_DLLAPI TriangleDistance {
 public:
  static void segPoints(const Vec3s& P, const Vec3s& A, const Vec3s& Q,
                        const Vec3s& B, Vec3s& VEC, Vec3s& X, Vec3s& Y);
 
  static Scalar sqrTriDistance(const Vec3s S[3], const Vec3s T[3], Vec3s& P,
                               Vec3s& Q);
 
  static Scalar sqrTriDistance(const Vec3s& S1, const Vec3s& S2,
                               const Vec3s& S3, const Vec3s& T1,
                               const Vec3s& T2, const Vec3s& T3, Vec3s& P,
                               Vec3s& Q);
 
  static Scalar sqrTriDistance(const Vec3s S[3], const Vec3s T[3],
                               const Matrix3s& R, const Vec3s& Tl, Vec3s& P,
                               Vec3s& Q);
 
  static Scalar sqrTriDistance(const Vec3s S[3], const Vec3s T[3],
                               const Transform3s& tf, Vec3s& P, Vec3s& Q);
 
  static Scalar sqrTriDistance(const Vec3s& S1, const Vec3s& S2,
                               const Vec3s& S3, const Vec3s& T1,
                               const Vec3s& T2, const Vec3s& T3,
                               const Matrix3s& R, const Vec3s& Tl, Vec3s& P,
                               Vec3s& Q);
 
  static Scalar sqrTriDistance(const Vec3s& S1, const Vec3s& S2,
                               const Vec3s& S3, const Vec3s& T1,
                               const Vec3s& T2, const Vec3s& T3,
                               const Transform3s& tf, Vec3s& P, Vec3s& Q);
};
 
}  // namespace coal
 
 
#include "coal/internal/intersect.hxx"
 
#endif