hpp-fcl: include/hpp/fcl/internal/intersect.h Source File

hpp-fcl 1.7.3 HPP fork of FCL -- The Flexible Collision Library

intersect.h
Go to the documentation of this file.
1 /*
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2011-2014, Willow Garage, Inc.
5 * Copyright (c) 2014-2015, Open Source Robotics Foundation
6 * All rights reserved.
7 *
8 * Redistribution and use in source and binary forms, with or without
9 * modification, are permitted provided that the following conditions
10 * are met:
11 *
12 * * Redistributions of source code must retain the above copyright
13 * notice, this list of conditions and the following disclaimer.
14 * * Redistributions in binary form must reproduce the above
15 * copyright notice, this list of conditions and the following
16 * disclaimer in the documentation and/or other materials provided
17 * with the distribution.
18 * * Neither the name of Open Source Robotics Foundation nor the names of its
19 * contributors may be used to endorse or promote products derived
20 * from this software without specific prior written permission.
21 *
22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33 * POSSIBILITY OF SUCH DAMAGE.
34 */
35
38 #ifndef HPP_FCL_INTERSECT_H
39 #define HPP_FCL_INTERSECT_H
40
42
43 #include <hpp/fcl/math/transform.h>
44
45 namespace hpp
46 {
47 namespace fcl
48 {
49
51 class HPP_FCL_DLLAPI Intersect
52 {
53 public:
54 static bool buildTrianglePlane
55 (const Vec3f& v1, const Vec3f& v2, const Vec3f& v3, Vec3f* n, FCL_REAL* t);
56 }; // class Intersect
57
59 class HPP_FCL_DLLAPI Project
60 {
61 public:
62 struct HPP_FCL_DLLAPI ProjectResult
63 {
65 FCL_REAL parameterization[4];
66
68 FCL_REAL sqr_distance;
69
71 unsigned int encode;
72
73 ProjectResult() : sqr_distance(-1), encode(0)
74 {
75 }
76 };
77
79 static ProjectResult projectLine(const Vec3f& a, const Vec3f& b, const Vec3f& p);
80
82 static ProjectResult projectTriangle(const Vec3f& a, const Vec3f& b, const Vec3f& c, const Vec3f& p);
83
85 static ProjectResult projectTetrahedra(const Vec3f& a, const Vec3f& b, const Vec3f& c, const Vec3f& d, const Vec3f& p);
86
88 static ProjectResult projectLineOrigin(const Vec3f& a, const Vec3f& b);
89
91 static ProjectResult projectTriangleOrigin(const Vec3f& a, const Vec3f& b, const Vec3f& c);
92
94 static ProjectResult projectTetrahedraOrigin(const Vec3f& a, const Vec3f& b, const Vec3f& c, const Vec3f& d);
95 };
96
98 class HPP_FCL_DLLAPI TriangleDistance
99 {
100 public:
101
107 static void segPoints(const Vec3f& P, const Vec3f& A, const Vec3f& Q, const Vec3f& B,
108 Vec3f& VEC, Vec3f& X, Vec3f& Y);
109
119 static FCL_REAL sqrTriDistance (const Vec3f S[3], const Vec3f T[3],
120 Vec3f& P, Vec3f& Q);
121
122 static FCL_REAL sqrTriDistance (const Vec3f& S1, const Vec3f& S2,
123 const Vec3f& S3, const Vec3f& T1,
124 const Vec3f& T2, const Vec3f& T3,
125 Vec3f& P, Vec3f& Q);
126
137 static FCL_REAL sqrTriDistance (const Vec3f S[3], const Vec3f T[3],
138 const Matrix3f& R, const Vec3f& Tl,
139 Vec3f& P, Vec3f& Q);
140
151 static FCL_REAL sqrTriDistance (const Vec3f S[3], const Vec3f T[3],
152 const Transform3f& tf,
153 Vec3f& P, Vec3f& Q);
154
155
166 static FCL_REAL sqrTriDistance (const Vec3f& S1, const Vec3f& S2,
167 const Vec3f& S3, const Vec3f& T1,
168 const Vec3f& T2, const Vec3f& T3,
169 const Matrix3f& R, const Vec3f& Tl,
170 Vec3f& P, Vec3f& Q);
171
182 static FCL_REAL sqrTriDistance (const Vec3f& S1, const Vec3f& S2,
183 const Vec3f& S3, const Vec3f& T1,
184 const Vec3f& T2, const Vec3f& T3,
185 const Transform3f& tf,
186 Vec3f& P, Vec3f& Q);
187
188 };
189
190 }
191
192 } // namespace hpp
193
195
196 #endif
hpp::fcl::Matrix3f
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:68
hpp::fcl::Vec3f
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:67
hpp::fcl::FCL_REAL
double FCL_REAL
Definition: data_types.h:66
hpp
Main namespace.
Definition: AABB.h:44
transform.h