CCD intersect kernel among primitives. More...

#include <hpp/fcl/intersect.h>

Static Public Member Functions
static bool	intersect_VF (const Vec3f &a0, const Vec3f &b0, const Vec3f &c0, const Vec3f &p0, const Vec3f &a1, const Vec3f &b1, const Vec3f &c1, const Vec3f &p1, FCL_REAL collision_time, Vec3f p_i, bool useNewton=true)
	CCD intersect between one vertex and one face [a0, b0, c0] and [a1, b1, c1] are points for the triangle face in time t0 and t1 p0 and p1 are points for vertex in time t0 and t1 p_i returns the coordinate of the collision point. More...

static bool	intersect_EE (const Vec3f &a0, const Vec3f &b0, const Vec3f &c0, const Vec3f &d0, const Vec3f &a1, const Vec3f &b1, const Vec3f &c1, const Vec3f &d1, FCL_REAL collision_time, Vec3f p_i, bool useNewton=true)
	CCD intersect between two edges [a0, b0] and [a1, b1] are points for one edge in time t0 and t1 [c0, d0] and [c1, d1] are points for the other edge in time t0 and t1 p_i returns the coordinate of the collision point. More...

static bool	intersect_VF_filtered (const Vec3f &a0, const Vec3f &b0, const Vec3f &c0, const Vec3f &p0, const Vec3f &a1, const Vec3f &b1, const Vec3f &c1, const Vec3f &p1, FCL_REAL collision_time, Vec3f p_i, bool useNewton=true)
	CCD intersect between one vertex and one face, using additional filter. More...

static bool	intersect_EE_filtered (const Vec3f &a0, const Vec3f &b0, const Vec3f &c0, const Vec3f &d0, const Vec3f &a1, const Vec3f &b1, const Vec3f &c1, const Vec3f &d1, FCL_REAL collision_time, Vec3f p_i, bool useNewton=true)
	CCD intersect between two edges, using additional filter. More...

static bool	intersect_VE (const Vec3f &a0, const Vec3f &b0, const Vec3f &p0, const Vec3f &a1, const Vec3f &b1, const Vec3f &p1, const Vec3f &L)
	CCD intersect between one vertex and and one edge. More...

static bool	intersect_Triangle (const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Vec3f &Q1, const Vec3f &Q2, const Vec3f &Q3, Vec3f contact_points=NULL, unsigned int num_contact_points=NULL, FCL_REAL penetration_depth=NULL, Vec3f normal=NULL)
	CD intersect between two triangles [P1, P2, P3] and [Q1, Q2, Q3]. More...

static bool	intersect_Triangle (const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Vec3f &Q1, const Vec3f &Q2, const Vec3f &Q3, const Matrix3f &R, const Vec3f &T, Vec3f contact_points=NULL, unsigned int num_contact_points=NULL, FCL_REAL penetration_depth=NULL, Vec3f normal=NULL)

static bool	intersect_Triangle (const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Vec3f &Q1, const Vec3f &Q2, const Vec3f &Q3, const Transform3f &tf, Vec3f contact_points=NULL, unsigned int num_contact_points=NULL, FCL_REAL penetration_depth=NULL, Vec3f normal=NULL)

Detailed Description

CCD intersect kernel among primitives.

Member Function Documentation

static bool fcl::Intersect::intersect_EE	(	const Vec3f &	a0,
		const Vec3f &	b0,
		const Vec3f &	c0,
		const Vec3f &	d0,
		const Vec3f &	a1,
		const Vec3f &	b1,
		const Vec3f &	c1,
		const Vec3f &	d1,
		FCL_REAL *	collision_time,
		Vec3f *	p_i,
		bool	useNewton = `true`
	)

static

CCD intersect between two edges [a0, b0] and [a1, b1] are points for one edge in time t0 and t1 [c0, d0] and [c1, d1] are points for the other edge in time t0 and t1 p_i returns the coordinate of the collision point.

Referenced by fcl::MeshContinuousCollisionTraversalNode< BV >::leafTesting().

static bool fcl::Intersect::intersect_EE_filtered	(	const Vec3f &	a0,
		const Vec3f &	b0,
		const Vec3f &	c0,
		const Vec3f &	d0,
		const Vec3f &	a1,
		const Vec3f &	b1,
		const Vec3f &	c1,
		const Vec3f &	d1,
		FCL_REAL *	collision_time,
		Vec3f *	p_i,
		bool	useNewton = `true`
	)

static

CCD intersect between two edges, using additional filter.

static bool fcl::Intersect::intersect_Triangle	(	const Vec3f &	P1,
		const Vec3f &	P2,
		const Vec3f &	P3,
		const Vec3f &	Q1,
		const Vec3f &	Q2,
		const Vec3f &	Q3,
		Vec3f *	contact_points = `NULL`,
		unsigned int *	num_contact_points = `NULL`,
		FCL_REAL *	penetration_depth = `NULL`,
		Vec3f *	normal = `NULL`
	)

static

CD intersect between two triangles [P1, P2, P3] and [Q1, Q2, Q3].

Referenced by fcl::MeshCollisionTraversalNode< OBBRSS >::leafTesting().

static bool fcl::Intersect::intersect_Triangle	(	const Vec3f &	P1,
		const Vec3f &	P2,
		const Vec3f &	P3,
		const Vec3f &	Q1,
		const Vec3f &	Q2,
		const Vec3f &	Q3,
		const Matrix3f &	R,
		const Vec3f &	T,
		Vec3f *	contact_points = `NULL`,
		unsigned int *	num_contact_points = `NULL`,
		FCL_REAL *	penetration_depth = `NULL`,
		Vec3f *	normal = `NULL`
	)

static

static bool fcl::Intersect::intersect_Triangle	(	const Vec3f &	P1,
		const Vec3f &	P2,
		const Vec3f &	P3,
		const Vec3f &	Q1,
		const Vec3f &	Q2,
		const Vec3f &	Q3,
		const Transform3f &	tf,
		Vec3f *	contact_points = `NULL`,
		unsigned int *	num_contact_points = `NULL`,
		FCL_REAL *	penetration_depth = `NULL`,
		Vec3f *	normal = `NULL`
	)

static

static bool fcl::Intersect::intersect_VE	(	const Vec3f &	a0,
		const Vec3f &	b0,
		const Vec3f &	p0,
		const Vec3f &	a1,
		const Vec3f &	b1,
		const Vec3f &	p1,
		const Vec3f &	L
	)

static

CCD intersect between one vertex and and one edge.

static bool fcl::Intersect::intersect_VF	(	const Vec3f &	a0,
		const Vec3f &	b0,
		const Vec3f &	c0,
		const Vec3f &	p0,
		const Vec3f &	a1,
		const Vec3f &	b1,
		const Vec3f &	c1,
		const Vec3f &	p1,
		FCL_REAL *	collision_time,
		Vec3f *	p_i,
		bool	useNewton = `true`
	)

static

CCD intersect between one vertex and one face [a0, b0, c0] and [a1, b1, c1] are points for the triangle face in time t0 and t1 p0 and p1 are points for vertex in time t0 and t1 p_i returns the coordinate of the collision point.

Referenced by fcl::MeshContinuousCollisionTraversalNode< BV >::leafTesting().

static bool fcl::Intersect::intersect_VF_filtered	(	const Vec3f &	a0,
		const Vec3f &	b0,
		const Vec3f &	c0,
		const Vec3f &	p0,
		const Vec3f &	a1,
		const Vec3f &	b1,
		const Vec3f &	c1,
		const Vec3f &	p1,
		FCL_REAL *	collision_time,
		Vec3f *	p_i,
		bool	useNewton = `true`
	)

static

CCD intersect between one vertex and one face, using additional filter.

Static Public Member Functions

Detailed Description

Member Function Documentation