.. _program_listing_file_include_coal_internal_intersect.h:

Program Listing for File intersect.h
====================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_coal_internal_intersect.h>` (``include/coal/internal/intersect.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Software License Agreement (BSD License)
    *
    *  Copyright (c) 2011-2014, Willow Garage, Inc.
    *  Copyright (c) 2014-2015, Open Source Robotics Foundation
    *  All rights reserved.
    *
    *  Redistribution and use in source and binary forms, with or without
    *  modification, are permitted provided that the following conditions
    *  are met:
    *
    *   * Redistributions of source code must retain the above copyright
    *     notice, this list of conditions and the following disclaimer.
    *   * Redistributions in binary form must reproduce the above
    *     copyright notice, this list of conditions and the following
    *     disclaimer in the documentation and/or other materials provided
    *     with the distribution.
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    *     contributors may be used to endorse or promote products derived
    *     from this software without specific prior written permission.
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    *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
    *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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    *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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    */
   
   #ifndef COAL_INTERSECT_H
   #define COAL_INTERSECT_H
   
   
   #include "coal/math/transform.h"
   
   namespace coal {
   
   class COAL_DLLAPI Intersect {
    public:
     static bool buildTrianglePlane(const Vec3s& v1, const Vec3s& v2,
                                    const Vec3s& v3, Vec3s* n, Scalar* t);
   };  // class Intersect
   
   template <typename _Scalar>
   class Project {
    public:
     typedef _Scalar Scalar;
     typedef Eigen::Matrix<Scalar, 3, 1> Vec3;
   
     struct ProjectResult {
       Scalar parameterization[4];
   
       Scalar sqr_distance;
   
       unsigned int encode;
   
       ProjectResult() : sqr_distance(-1), encode(0) {}
     };
   
     static ProjectResult projectLine(const Vec3& a, const Vec3& b, const Vec3& p);
   
     static ProjectResult projectTriangle(const Vec3& a, const Vec3& b,
                                          const Vec3& c, const Vec3& p);
   
     static ProjectResult projectTetrahedra(const Vec3& a, const Vec3& b,
                                            const Vec3& c, const Vec3& d,
                                            const Vec3& p);
   
     static ProjectResult projectLineOrigin(const Vec3& a, const Vec3& b);
   
     static ProjectResult projectTriangleOrigin(const Vec3& a, const Vec3& b,
                                                const Vec3& c);
   
     static ProjectResult projectTetrahedraOrigin(const Vec3& a, const Vec3& b,
                                                  const Vec3& c, const Vec3& d);
   };
   
   class COAL_DLLAPI TriangleDistance {
    public:
     static void segPoints(const Vec3s& P, const Vec3s& A, const Vec3s& Q,
                           const Vec3s& B, Vec3s& VEC, Vec3s& X, Vec3s& Y);
   
     static Scalar sqrTriDistance(const Vec3s S[3], const Vec3s T[3], Vec3s& P,
                                  Vec3s& Q);
   
     static Scalar sqrTriDistance(const Vec3s& S1, const Vec3s& S2,
                                  const Vec3s& S3, const Vec3s& T1,
                                  const Vec3s& T2, const Vec3s& T3, Vec3s& P,
                                  Vec3s& Q);
   
     static Scalar sqrTriDistance(const Vec3s S[3], const Vec3s T[3],
                                  const Matrix3s& R, const Vec3s& Tl, Vec3s& P,
                                  Vec3s& Q);
   
     static Scalar sqrTriDistance(const Vec3s S[3], const Vec3s T[3],
                                  const Transform3s& tf, Vec3s& P, Vec3s& Q);
   
     static Scalar sqrTriDistance(const Vec3s& S1, const Vec3s& S2,
                                  const Vec3s& S3, const Vec3s& T1,
                                  const Vec3s& T2, const Vec3s& T3,
                                  const Matrix3s& R, const Vec3s& Tl, Vec3s& P,
                                  Vec3s& Q);
   
     static Scalar sqrTriDistance(const Vec3s& S1, const Vec3s& S2,
                                  const Vec3s& S3, const Vec3s& T1,
                                  const Vec3s& T2, const Vec3s& T3,
                                  const Transform3s& tf, Vec3s& P, Vec3s& Q);
   };
   
   }  // namespace coal
   
   
   #include "coal/internal/intersect.hxx"
   
   #endif