## Static Public Member Functions | |

static void | segPoints (const Vec3f &P, const Vec3f &A, const Vec3f &Q, const Vec3f &B, Vec3f &VEC, Vec3f &X, Vec3f &Y) |

Returns closest points between an segment pair. The first segment is P + t * A The second segment is Q + t * B X, Y are the closest points on the two segments VEC is the vector between X and Y. | |

static FCL_REAL | triDistance (const Vec3f S[3], const Vec3f T[3], Vec3f &P, Vec3f &Q) |

Compute the closest points on two triangles given their absolute coordinate, and returns the distance between them S and T are two triangles If the triangles are disjoint, P and Q give the closet points of S and T respectively. However, if the triangles overlap, P and Q are basically a random pair of points from the triangles, not coincident points on the intersection of the triangles, as might be expected. | |

static FCL_REAL | triDistance (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 | triDistance (const Vec3f S[3], const Vec3f T[3], const Matrix3f &R, const Vec3f &Tl, Vec3f &P, Vec3f &Q) |

Compute the closest points on two triangles given the relative transform between them, and returns the distance between them S and T are two triangles If the triangles are disjoint, P and Q give the closet points of S and T respectively. However, if the triangles overlap, P and Q are basically a random pair of points from the triangles, not coincident points on the intersection of the triangles, as might be expected. The returned P and Q are both in the coordinate of the first triangle's coordinate. | |

static FCL_REAL | triDistance (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) |

Definition at line 248 of file intersect.h.

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

- fcl/include/fcl/intersect.h
- fcl/src/intersect.cpp