intersect.h

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/*
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 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2015, Open Source Robotics Foundation
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#ifndef HPP_FCL_INTERSECT_H
#define HPP_FCL_INTERSECT_H
 
 
#include <hpp/fcl/math/transform.h>
 
namespace hpp {
namespace fcl {
 
class HPP_FCL_DLLAPI Intersect {
 public:
  static bool buildTrianglePlane(const Vec3f& v1, const Vec3f& v2,
                                 const Vec3f& v3, Vec3f* n, FCL_REAL* t);
};  // class Intersect
 
class HPP_FCL_DLLAPI Project {
 public:
  struct HPP_FCL_DLLAPI ProjectResult {
    FCL_REAL parameterization[4];
 
    FCL_REAL sqr_distance;
 
    unsigned int encode;
 
    ProjectResult() : sqr_distance(-1), encode(0) {}
  };
 
  static ProjectResult projectLine(const Vec3f& a, const Vec3f& b,
                                   const Vec3f& p);
 
  static ProjectResult projectTriangle(const Vec3f& a, const Vec3f& b,
                                       const Vec3f& c, const Vec3f& p);
 
  static ProjectResult projectTetrahedra(const Vec3f& a, const Vec3f& b,
                                         const Vec3f& c, const Vec3f& d,
                                         const Vec3f& p);
 
  static ProjectResult projectLineOrigin(const Vec3f& a, const Vec3f& b);
 
  static ProjectResult projectTriangleOrigin(const Vec3f& a, const Vec3f& b,
                                             const Vec3f& c);
 
  static ProjectResult projectTetrahedraOrigin(const Vec3f& a, const Vec3f& b,
                                               const Vec3f& c, const Vec3f& d);
};
 
class HPP_FCL_DLLAPI TriangleDistance {
 public:
  static void segPoints(const Vec3f& P, const Vec3f& A, const Vec3f& Q,
                        const Vec3f& B, Vec3f& VEC, Vec3f& X, Vec3f& Y);
 
  static FCL_REAL sqrTriDistance(const Vec3f S[3], const Vec3f T[3], Vec3f& P,
                                 Vec3f& Q);
 
  static FCL_REAL sqrTriDistance(const Vec3f& S1, const Vec3f& S2,
                                 const Vec3f& S3, const Vec3f& T1,
                                 const Vec3f& T2, const Vec3f& T3, Vec3f& P,
                                 Vec3f& Q);
 
  static FCL_REAL sqrTriDistance(const Vec3f S[3], const Vec3f T[3],
                                 const Matrix3f& R, const Vec3f& Tl, Vec3f& P,
                                 Vec3f& Q);
 
  static FCL_REAL sqrTriDistance(const Vec3f S[3], const Vec3f T[3],
                                 const Transform3f& tf, Vec3f& P, Vec3f& Q);
 
  static FCL_REAL sqrTriDistance(const Vec3f& S1, const Vec3f& S2,
                                 const Vec3f& S3, const Vec3f& T1,
                                 const Vec3f& T2, const Vec3f& T3,
                                 const Matrix3f& R, const Vec3f& Tl, Vec3f& P,
                                 Vec3f& Q);
 
  static FCL_REAL sqrTriDistance(const Vec3f& S1, const Vec3f& S2,
                                 const Vec3f& S3, const Vec3f& T1,
                                 const Vec3f& T2, const Vec3f& T3,
                                 const Transform3f& tf, Vec3f& P, Vec3f& Q);
};
 
}  // namespace fcl
 
}  // namespace hpp
 
 
#endif