Namespaces | Functions
PointTriangleCcdContactCalculation-inl.h File Reference
#include <Eigen/Core>
#include <Eigen/Geometry>
#include "SurgSim/Math/CubicSolver.h"

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Namespaces

 SurgSim
 
 SurgSim::Math
 

Functions

template<class T , int MOpt>
bool SurgSim::Math::isPointInsideTriangle (T time, const std::pair< Eigen::Matrix< T, 3, 1, MOpt >, Eigen::Matrix< T, 3, 1, MOpt >> &P, const std::pair< Eigen::Matrix< T, 3, 1, MOpt >, Eigen::Matrix< T, 3, 1, MOpt >> &A, const std::pair< Eigen::Matrix< T, 3, 1, MOpt >, Eigen::Matrix< T, 3, 1, MOpt >> &B, const std::pair< Eigen::Matrix< T, 3, 1, MOpt >, Eigen::Matrix< T, 3, 1, MOpt >> &C, Eigen::Matrix< T, 3, 1, MOpt > *barycentricCoordinates)
 Check if a point belongs to a triangle at a given time of their motion. More...
 
template<class T , int MOpt>
bool SurgSim::Math::calculateCcdContactPointTriangle (const std::pair< Eigen::Matrix< T, 3, 1, MOpt >, Eigen::Matrix< T, 3, 1, MOpt >> &P, const std::pair< Eigen::Matrix< T, 3, 1, MOpt >, Eigen::Matrix< T, 3, 1, MOpt >> &A, const std::pair< Eigen::Matrix< T, 3, 1, MOpt >, Eigen::Matrix< T, 3, 1, MOpt >> &B, const std::pair< Eigen::Matrix< T, 3, 1, MOpt >, Eigen::Matrix< T, 3, 1, MOpt >> &C, T *timeOfImpact, T *tv01Param, T *tv02Param)
 Continuous collision detection between a point P and a triangle ABC. More...