Classes | Namespaces | Functions
TriangleCapsuleContactCalculation-inl.h File Reference
#include "SurgSim/Math/Valid.h"
#include "SurgSim/DataStructures/OptionalValue.h"

Go to the source code of this file.

Classes

class  SurgSim::Math::TriangleCapsuleContactCalculation::TriangleCapsuleContactCalculation< T, MOpt >
 Class used to find the intersection between a triangle and a capsule. More...
 

Namespaces

 SurgSim
 
 SurgSim::Math
 
 SurgSim::Math::TriangleCapsuleContactCalculation
 

Functions

template<class T , int MOpt>
Eigen::Matrix< T, 3, 1, MOpt > SurgSim::Math::TriangleCapsuleContactCalculation::pointWithTangentOnEllipse (const Eigen::Matrix< T, 3, 1, MOpt > &center, const Eigen::Matrix< T, 3, 1, MOpt > &majorAxis, const Eigen::Matrix< T, 3, 1, MOpt > &minorAxis, const double majorRadius, const double minorRadius, const Eigen::Matrix< T, 3, 1, MOpt > &tangent)
 Find the point on (positive X side of) ellipse parallel to the given tangent. More...
 
template<class T , int MOpt>
bool SurgSim::Math::calculateContactTriangleCapsule (const Eigen::Matrix< T, 3, 1, MOpt > &tv0, const Eigen::Matrix< T, 3, 1, MOpt > &tv1, const Eigen::Matrix< T, 3, 1, MOpt > &tv2, const Eigen::Matrix< T, 3, 1, MOpt > &tn, const Eigen::Matrix< T, 3, 1, MOpt > &cv0, const Eigen::Matrix< T, 3, 1, MOpt > &cv1, double cr, T *penetrationDepth, Eigen::Matrix< T, 3, 1, MOpt > *penetrationPointTriangle, Eigen::Matrix< T, 3, 1, MOpt > *penetrationPointCapsule, Eigen::Matrix< T, 3, 1, MOpt > *contactNormal, Eigen::Matrix< T, 3, 1, MOpt > *penetrationPointCapsuleAxis)
 Calculate the contact between a capsule and a triangle. More...
 
template<class T , int MOpt>
bool SurgSim::Math::calculateContactTriangleCapsule (const Eigen::Matrix< T, 3, 1, MOpt > &tv0, const Eigen::Matrix< T, 3, 1, MOpt > &tv1, const Eigen::Matrix< T, 3, 1, MOpt > &tv2, const Eigen::Matrix< T, 3, 1, MOpt > &cv0, const Eigen::Matrix< T, 3, 1, MOpt > &cv1, double cr, T *penetrationDepth, Eigen::Matrix< T, 3, 1, MOpt > *penetrationPointTriangle, Eigen::Matrix< T, 3, 1, MOpt > *penetrationPointCapsule, Eigen::Matrix< T, 3, 1, MOpt > *contactNormal, Eigen::Matrix< T, 3, 1, MOpt > *penetrationPointCapsuleAxis)
 Calculate the contact between a capsule and a triangle. More...