intersect.h

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#ifndef HPP_FCL_INTERSECT_H
#define HPP_FCL_INTERSECT_H


#include <hpp/fcl/math/transform.h>
#include <boost/math/special_functions/erf.hpp>

namespace hpp
{
namespace fcl
{

class Intersect
{
public:
  static bool buildTrianglePlane
    (const Vec3f& v1, const Vec3f& v2, const Vec3f& v3, Vec3f* n, FCL_REAL* t);
}; // class Intersect

class Project
{
public:
  struct 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 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 hpp


#endif