All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator Friends
fcl::Intersect

fcl::Intersect Class Reference

CCD intersect kernel among primitives. More...

#include <intersect.h>

List of all members.


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.
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.
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.
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.
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.
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].
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.

Definition at line 70 of file intersect.h.

Member Function Documentation

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.

if(isZero(a)) { return solveSquare(b, c, d, a0, b0, c0, d0, va, vb, vc, vd, collision_time, false); }

Definition at line 553 of file intersect.cpp.

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.

if(isZero(a)) { return solveSquare(b, c, d, a0, b0, c0, p0, va, vb, vc, vp, true, collision_time); }

Definition at line 489 of file intersect.cpp.

The documentation for this class was generated from the following files: