hpp::fcl::details Namespace Reference

Classes
struct	ContactPoint
struct	EPA
	class for EPA algorithm More...
struct	GJK
	class for GJK algorithm More...
struct	MinkowskiDiff
	Minkowski difference class of two shapes. More...

Functions
Vec3f	getSupport (const ShapeBase *shape, const Vec3f &dir, bool dirIsNormalized)
	the support function for shape More...
bool	sphereCapsuleIntersect (const Sphere &s1, const Transform3f &tf1, const Capsule &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f *contact_points, Vec3f *normal_)
bool	sphereCapsuleDistance (const Sphere &s1, const Transform3f &tf1, const Capsule &s2, const Transform3f &tf2, FCL_REAL &dist, Vec3f &p1, Vec3f &p2, Vec3f &normal)
bool	sphereCylinderDistance (const Sphere &s1, const Transform3f &tf1, const Cylinder &s2, const Transform3f &tf2, FCL_REAL &dist, Vec3f &p1, Vec3f &p2, Vec3f &normal)
bool	sphereSphereIntersect (const Sphere &s1, const Transform3f &tf1, const Sphere &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f *contact_points, Vec3f *normal)
bool	sphereSphereDistance (const Sphere &s1, const Transform3f &tf1, const Sphere &s2, const Transform3f &tf2, FCL_REAL &dist, Vec3f &p1, Vec3f &p2, Vec3f &normal)
FCL_REAL	segmentSqrDistance (const Vec3f &from, const Vec3f &to, const Vec3f &p, Vec3f &nearest)
	the minimum distance from a point to a line More...
bool	projectInTriangle (const Vec3f &p1, const Vec3f &p2, const Vec3f &p3, const Vec3f &normal, const Vec3f &p)
	Whether a point's projection is in a triangle. More...
bool	sphereTriangleIntersect (const Sphere &s, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal_)
bool	sphereTriangleDistance (const Sphere &sp, const Transform3f &tf, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, FCL_REAL *dist)
bool	sphereTriangleDistance (const Sphere &sp, const Transform3f &tf, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, FCL_REAL *dist, Vec3f *p1, Vec3f *p2)
bool	sphereTriangleDistance (const Sphere &sp, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf2, FCL_REAL *dist, Vec3f *p1, Vec3f *p2)
int	boxBox2 (const Vec3f &halfSide1, const Matrix3f &R1, const Vec3f &T1, const Vec3f &halfSide2, const Matrix3f &R2, const Vec3f &T2, Vec3f &normal, FCL_REAL *depth, int *return_code, int maxc, std::vector< ContactPoint > &contacts)
bool	compareContactPoints (const ContactPoint &c1, const ContactPoint &c2)
bool	boxBoxIntersect (const Box &s1, const Transform3f &tf1, const Box &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth_, Vec3f *normal_)
template<typename T >
T	halfspaceIntersectTolerance ()
template<>
float	halfspaceIntersectTolerance ()
template<>
double	halfspaceIntersectTolerance ()
bool	sphereHalfspaceIntersect (const Sphere &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)
bool	boxHalfspaceIntersect (const Box &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2)
	box half space, a, b, c = +/- edge size n^T * (R(o + a v1 + b v2 + c v3) + T) <= d so (R^T n) (a v1 + b v2 + c v3) + n * T <= d check whether d - n * T - (R^T n) (a v1 + b v2 + c v3) >= 0 for some a, b, c the max value of left side is d - n * T + |(R^T n) (a v1 + b v2 + c v3)|, check that is enough More...
bool	boxHalfspaceIntersect (const Box &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)
bool	capsuleHalfspaceIntersect (const Capsule &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)
bool	cylinderHalfspaceIntersect (const Cylinder &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)
bool	coneHalfspaceIntersect (const Cone &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)
bool	convexHalfspaceIntersect (const ConvexBase &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal)
bool	halfspaceTriangleIntersect (const Halfspace &s1, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)
bool	planeHalfspaceIntersect (const Plane &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, Plane &pl, Vec3f &p, Vec3f &d, FCL_REAL &penetration_depth, int &ret)
	return whether plane collides with halfspace if the separation plane of the halfspace is parallel with the plane return code 1, if the plane's normal is the same with halfspace's normal and plane is inside halfspace, also return plane in pl return code 2, if the plane's normal is oppositie to the halfspace's normal and plane is inside halfspace, also return plane in pl plane is outside halfspace, collision-free if not parallel return the intersection ray, return code 3. ray origin is p and direction is d More...
bool	halfspaceIntersect (const Halfspace &s1, const Transform3f &tf1, const Halfspace &s2, const Transform3f &tf2, Vec3f &p, Vec3f &d, Halfspace &s, FCL_REAL &penetration_depth, int &ret)
template<typename T >
T	planeIntersectTolerance ()
template<>
double	planeIntersectTolerance< double > ()
template<>
float	planeIntersectTolerance< float > ()
bool	spherePlaneIntersect (const Sphere &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)
bool	boxPlaneIntersect (const Box &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)
	box half space, a, b, c = +/- edge size n^T * (R(o + a v1 + b v2 + c v3) + T) ~ d so (R^T n) (a v1 + b v2 + c v3) + n * T ~ d check whether d - n * T - (R^T n) (a v1 + b v2 + c v3) >= 0 for some a, b, c and <=0 for some a, b, c so need to check whether |d - n * T| <= |(R^T n)(a v1 + b v2 + c v3)|, the reason is as follows: (R^T n) (a v1 + b v2 + c v3) can get |(R^T n) (a v1 + b v2 + c v3)| for one a, b, c. if |d - n * T| <= |(R^T n)(a v1 + b v2 + c v3)| then can get both positive and negative value on the right side. More...
bool	boxSphereDistance (const Box &b, const Transform3f &tfb, const Sphere &s, const Transform3f &tfs, FCL_REAL &dist, Vec3f &pb, Vec3f &ps, Vec3f &normal)
bool	capsulePlaneIntersect (const Capsule &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)
bool	cylinderPlaneIntersect (const Cylinder &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)
	cylinder-plane intersect n^T (R (r * cosa * v1 + r * sina * v2 + h * v3) + T) ~ d need one point to be positive and one to be negative (n^T * v3) * h + n * T -d + r * (cosa * (n^T * R * v1) + sina * (n^T * R * v2)) ~ 0 (n^T * v3) * h + r * (cosa * (n^T * R * v1) + sina * (n^T * R * v2)) + n * T - d ~ 0 More...
bool	conePlaneIntersect (const Cone &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)
bool	convexPlaneIntersect (const ConvexBase &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, Vec3f *contact_points, FCL_REAL *penetration_depth, Vec3f *normal)
bool	planeTriangleIntersect (const Plane &s1, const Transform3f &tf1, const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)
bool	halfspacePlaneIntersect (const Halfspace &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, Plane &pl, Vec3f &p, Vec3f &d, FCL_REAL &penetration_depth, int &ret)
bool	planeIntersect (const Plane &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, Vec3f *, FCL_REAL *, Vec3f *)
FCL_REAL	computePenetration (const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Vec3f &Q1, const Vec3f &Q2, const Vec3f &Q3, Vec3f &normal)
	See the prototype below. More...
FCL_REAL	computePenetration (const Vec3f &P1, const Vec3f &P2, const Vec3f &P3, const Vec3f &Q1, const Vec3f &Q2, const Vec3f &Q3, const Transform3f &tf1, const Transform3f &tf2, Vec3f &normal)

Function Documentation

boxBox2()

int hpp::fcl::details::boxBox2 ( const Vec3f &  halfSide1, const Matrix3f &  R1, const Vec3f &  T1, const Vec3f &  halfSide2, const Matrix3f &  R2, const Vec3f &  T2, Vec3f &  normal, FCL_REAL *  depth, int *  return_code, int  maxc, std::vector< ContactPoint > &  contacts  )

inline

boxBoxIntersect()

bool hpp::fcl::details::boxBoxIntersect ( const Box &  s1, const Transform3f &  tf1, const Box &  s2, const Transform3f &  tf2, Vec3f *  contact_points, FCL_REAL *  penetration_depth_, Vec3f *  normal_  )

inline

boxHalfspaceIntersect() [1/2]

bool hpp::fcl::details::boxHalfspaceIntersect ( const Box &  s1, const Transform3f &  tf1, const Halfspace &  s2, const Transform3f &  tf2  )

inline

box half space, a, b, c = +/- edge size n^T * (R(o + a v1 + b v2 + c v3) + T) <= d so (R^T n) (a v1 + b v2 + c v3) + n * T <= d check whether d - n * T - (R^T n) (a v1 + b v2 + c v3) >= 0 for some a, b, c the max value of left side is d - n * T + |(R^T n) (a v1 + b v2 + c v3)|, check that is enough

boxHalfspaceIntersect() [2/2]

bool hpp::fcl::details::boxHalfspaceIntersect ( const Box &  s1, const Transform3f &  tf1, const Halfspace &  s2, const Transform3f &  tf2, FCL_REAL &  distance, Vec3f &  p1, Vec3f &  p2, Vec3f &  normal  )

inline

find deepest point

compute the contact point from the deepest point

boxPlaneIntersect()

bool hpp::fcl::details::boxPlaneIntersect ( const Box &  s1, const Transform3f &  tf1, const Plane &  s2, const Transform3f &  tf2, FCL_REAL &  distance, Vec3f &  p1, Vec3f &  p2, Vec3f &  normal  )

inline

box half space, a, b, c = +/- edge size n^T * (R(o + a v1 + b v2 + c v3) + T) ~ d so (R^T n) (a v1 + b v2 + c v3) + n * T ~ d check whether d - n * T - (R^T n) (a v1 + b v2 + c v3) >= 0 for some a, b, c and <=0 for some a, b, c so need to check whether |d - n * T| <= |(R^T n)(a v1 + b v2 + c v3)|, the reason is as follows: (R^T n) (a v1 + b v2 + c v3) can get |(R^T n) (a v1 + b v2 + c v3)| for one a, b, c. if |d - n * T| <= |(R^T n)(a v1 + b v2 + c v3)| then can get both positive and negative value on the right side.

boxSphereDistance()

bool hpp::fcl::details::boxSphereDistance ( const Box &  b, const Transform3f &  tfb, const Sphere &  s, const Transform3f &  tfs, FCL_REAL &  dist, Vec3f &  pb, Vec3f &  ps, Vec3f &  normal  )

inline

Taken from book Real Time Collision Detection, from Christer Ericson

Parameters

pb	the closest point to the sphere center on the box surface
ps	when colliding, matches pb, which is inside the sphere. when not colliding, the closest point on the sphere
normal	direction of motion of the box

Returns

true if the distance is negative (the shape overlaps).

capsuleHalfspaceIntersect()

bool hpp::fcl::details::capsuleHalfspaceIntersect ( const Capsule &  s1, const Transform3f &  tf1, const Halfspace &  s2, const Transform3f &  tf2, FCL_REAL &  distance, Vec3f &  p1, Vec3f &  p2, Vec3f &  normal  )

inline

capsulePlaneIntersect()

bool hpp::fcl::details::capsulePlaneIntersect ( const Capsule &  s1, const Transform3f &  tf1, const Plane &  s2, const Transform3f &  tf2, FCL_REAL &  distance, Vec3f &  p1, Vec3f &  p2, Vec3f &  normal  )

inline

compareContactPoints()

bool hpp::fcl::details::compareContactPoints ( const ContactPoint &  c1, const ContactPoint &  c2  )

inline

computePenetration() [1/2]

FCL_REAL hpp::fcl::details::computePenetration ( const Vec3f &  P1, const Vec3f &  P2, const Vec3f &  P3, const Vec3f &  Q1, const Vec3f &  Q2, const Vec3f &  Q3, Vec3f &  normal  )

inline

See the prototype below.

computePenetration() [2/2]

FCL_REAL hpp::fcl::details::computePenetration ( const Vec3f &  P1, const Vec3f &  P2, const Vec3f &  P3, const Vec3f &  Q1, const Vec3f &  Q2, const Vec3f &  Q3, const Transform3f &  tf1, const Transform3f &  tf2, Vec3f &  normal  )

inline

coneHalfspaceIntersect()

bool hpp::fcl::details::coneHalfspaceIntersect ( const Cone &  s1, const Transform3f &  tf1, const Halfspace &  s2, const Transform3f &  tf2, FCL_REAL &  distance, Vec3f &  p1, Vec3f &  p2, Vec3f &  normal  )

inline

conePlaneIntersect()

bool hpp::fcl::details::conePlaneIntersect ( const Cone &  s1, const Transform3f &  tf1, const Plane &  s2, const Transform3f &  tf2, FCL_REAL &  distance, Vec3f &  p1, Vec3f &  p2, Vec3f &  normal  )

inline

convexHalfspaceIntersect()

bool hpp::fcl::details::convexHalfspaceIntersect ( const ConvexBase &  s1, const Transform3f &  tf1, const Halfspace &  s2, const Transform3f &  tf2, Vec3f *  contact_points, FCL_REAL *  penetration_depth, Vec3f *  normal  )

inline

convexPlaneIntersect()

bool hpp::fcl::details::convexPlaneIntersect ( const ConvexBase &  s1, const Transform3f &  tf1, const Plane &  s2, const Transform3f &  tf2, Vec3f *  contact_points, FCL_REAL *  penetration_depth, Vec3f *  normal  )

inline

cylinderHalfspaceIntersect()

bool hpp::fcl::details::cylinderHalfspaceIntersect ( const Cylinder &  s1, const Transform3f &  tf1, const Halfspace &  s2, const Transform3f &  tf2, FCL_REAL &  distance, Vec3f &  p1, Vec3f &  p2, Vec3f &  normal  )

inline

cylinderPlaneIntersect()

bool hpp::fcl::details::cylinderPlaneIntersect ( const Cylinder &  s1, const Transform3f &  tf1, const Plane &  s2, const Transform3f &  tf2, FCL_REAL &  distance, Vec3f &  p1, Vec3f &  p2, Vec3f &  normal  )

inline

cylinder-plane intersect n^T (R (r * cosa * v1 + r * sina * v2 + h * v3) + T) ~ d need one point to be positive and one to be negative (n^T * v3) * h + n * T -d + r * (cosa * (n^T * R * v1) + sina * (n^T * R * v2)) ~ 0 (n^T * v3) * h + r * (cosa * (n^T * R * v1) + sina * (n^T * R * v2)) + n * T - d ~ 0

getSupport()

Vec3f hpp::fcl::details::getSupport	(	const ShapeBase *	shape,
		const Vec3f &	dir,
		bool	dirIsNormalized
	)

the support function for shape

halfspaceIntersect()

bool hpp::fcl::details::halfspaceIntersect ( const Halfspace &  s1, const Transform3f &  tf1, const Halfspace &  s2, const Transform3f &  tf2, Vec3f &  p, Vec3f &  d, Halfspace &  s, FCL_REAL &  penetration_depth, int &  ret  )

inline

@ brief return whether two halfspace intersect if the separation planes of the two halfspaces are parallel return code 1, if two halfspaces' normal are same and s1 is in s2, also return s1 in s; return code 2, if two halfspaces' normal are same and s2 is in s1, also return s2 in s; return code 3, if two halfspaces' normal are opposite and s1 and s2 are into each other; collision free, if two halfspaces' are separate; if the separation planes of the two halfspaces are not parallel, return intersection ray, return code 4. ray origin is p and direction is d collision free return code 0

halfspaceIntersectTolerance() [1/3]

template<typename T >

T hpp::fcl::details::halfspaceIntersectTolerance ( )

inline

halfspaceIntersectTolerance() [2/3]

template<>

float hpp::fcl::details::halfspaceIntersectTolerance ( )

inline

halfspaceIntersectTolerance() [3/3]

template<>

double hpp::fcl::details::halfspaceIntersectTolerance ( )

inline

halfspacePlaneIntersect()

bool hpp::fcl::details::halfspacePlaneIntersect ( const Halfspace &  s1, const Transform3f &  tf1, const Plane &  s2, const Transform3f &  tf2, Plane &  pl, Vec3f &  p, Vec3f &  d, FCL_REAL &  penetration_depth, int &  ret  )

inline

halfspaceTriangleIntersect()

bool hpp::fcl::details::halfspaceTriangleIntersect ( const Halfspace &  s1, const Transform3f &  tf1, const Vec3f &  P1, const Vec3f &  P2, const Vec3f &  P3, const Transform3f &  tf2, FCL_REAL &  distance, Vec3f &  p1, Vec3f &  p2, Vec3f &  normal  )

inline

planeHalfspaceIntersect()

bool hpp::fcl::details::planeHalfspaceIntersect ( const Plane &  s1, const Transform3f &  tf1, const Halfspace &  s2, const Transform3f &  tf2, Plane &  pl, Vec3f &  p, Vec3f &  d, FCL_REAL &  penetration_depth, int &  ret  )

inline

return whether plane collides with halfspace if the separation plane of the halfspace is parallel with the plane return code 1, if the plane's normal is the same with halfspace's normal and plane is inside halfspace, also return plane in pl return code 2, if the plane's normal is oppositie to the halfspace's normal and plane is inside halfspace, also return plane in pl plane is outside halfspace, collision-free if not parallel return the intersection ray, return code 3. ray origin is p and direction is d

planeIntersect()

bool hpp::fcl::details::planeIntersect ( const Plane &  s1, const Transform3f &  tf1, const Plane &  s2, const Transform3f &  tf2, Vec3f *  , FCL_REAL *  , Vec3f *    )

inline

planeIntersectTolerance()

template<typename T >

T hpp::fcl::details::planeIntersectTolerance ( )

inline

planeIntersectTolerance< double >()

template<>

double hpp::fcl::details::planeIntersectTolerance< double > ( )

inline

planeIntersectTolerance< float >()

template<>

float hpp::fcl::details::planeIntersectTolerance< float > ( )

inline

planeTriangleIntersect()

bool hpp::fcl::details::planeTriangleIntersect ( const Plane &  s1, const Transform3f &  tf1, const Vec3f &  P1, const Vec3f &  P2, const Vec3f &  P3, const Transform3f &  tf2, FCL_REAL &  distance, Vec3f &  p1, Vec3f &  p2, Vec3f &  normal  )

inline

projectInTriangle()

bool hpp::fcl::details::projectInTriangle ( const Vec3f &  p1, const Vec3f &  p2, const Vec3f &  p3, const Vec3f &  normal, const Vec3f &  p  )

inline

Whether a point's projection is in a triangle.

segmentSqrDistance()

FCL_REAL hpp::fcl::details::segmentSqrDistance ( const Vec3f &  from, const Vec3f &  to, const Vec3f &  p, Vec3f &  nearest  )

inline

the minimum distance from a point to a line

sphereCapsuleDistance()

bool hpp::fcl::details::sphereCapsuleDistance ( const Sphere &  s1, const Transform3f &  tf1, const Capsule &  s2, const Transform3f &  tf2, FCL_REAL &  dist, Vec3f &  p1, Vec3f &  p2, Vec3f &  normal  )

inline

sphereCapsuleIntersect()

bool hpp::fcl::details::sphereCapsuleIntersect ( const Sphere &  s1, const Transform3f &  tf1, const Capsule &  s2, const Transform3f &  tf2, FCL_REAL &  distance, Vec3f *  contact_points, Vec3f *  normal_  )

inline

sphereCylinderDistance()

bool hpp::fcl::details::sphereCylinderDistance ( const Sphere &  s1, const Transform3f &  tf1, const Cylinder &  s2, const Transform3f &  tf2, FCL_REAL &  dist, Vec3f &  p1, Vec3f &  p2, Vec3f &  normal  )

inline

Todo:

a tiny performance improvement could be achieved using the abscissa with S as the origin

sphereHalfspaceIntersect()

bool hpp::fcl::details::sphereHalfspaceIntersect ( const Sphere &  s1, const Transform3f &  tf1, const Halfspace &  s2, const Transform3f &  tf2, FCL_REAL &  distance, Vec3f &  p1, Vec3f &  p2, Vec3f &  normal  )

inline

spherePlaneIntersect()

bool hpp::fcl::details::spherePlaneIntersect ( const Sphere &  s1, const Transform3f &  tf1, const Plane &  s2, const Transform3f &  tf2, FCL_REAL &  distance, Vec3f &  p1, Vec3f &  p2, Vec3f &  normal  )

inline

sphereSphereDistance()

bool hpp::fcl::details::sphereSphereDistance ( const Sphere &  s1, const Transform3f &  tf1, const Sphere &  s2, const Transform3f &  tf2, FCL_REAL &  dist, Vec3f &  p1, Vec3f &  p2, Vec3f &  normal  )

inline

sphereSphereIntersect()

bool hpp::fcl::details::sphereSphereIntersect ( const Sphere &  s1, const Transform3f &  tf1, const Sphere &  s2, const Transform3f &  tf2, FCL_REAL &  distance, Vec3f *  contact_points, Vec3f *  normal  )

inline

sphereTriangleDistance() [1/3]

bool hpp::fcl::details::sphereTriangleDistance ( const Sphere &  sp, const Transform3f &  tf, const Vec3f &  P1, const Vec3f &  P2, const Vec3f &  P3, FCL_REAL *  dist  )

inline

sphereTriangleDistance() [2/3]

bool hpp::fcl::details::sphereTriangleDistance ( const Sphere &  sp, const Transform3f &  tf, const Vec3f &  P1, const Vec3f &  P2, const Vec3f &  P3, FCL_REAL *  dist, Vec3f *  p1, Vec3f *  p2  )

inline

sphereTriangleDistance() [3/3]

bool hpp::fcl::details::sphereTriangleDistance ( const Sphere &  sp, const Transform3f &  tf1, const Vec3f &  P1, const Vec3f &  P2, const Vec3f &  P3, const Transform3f &  tf2, FCL_REAL *  dist, Vec3f *  p1, Vec3f *  p2  )

inline

sphereTriangleIntersect()

bool hpp::fcl::details::sphereTriangleIntersect ( const Sphere &  s, const Transform3f &  tf1, const Vec3f &  P1, const Vec3f &  P2, const Vec3f &  P3, FCL_REAL &  distance, Vec3f &  p1, Vec3f &  p2, Vec3f &  normal_  )

inline