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

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Namespaces

 SurgSim
 
 SurgSim::Math
 

Functions

template<class T , int MOpt>
bool SurgSim::Math::areSegmentsIntersecting (T time, 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, const std::pair< Eigen::Matrix< T, 3, 1, MOpt >, Eigen::Matrix< T, 3, 1, MOpt >> &D, Eigen::Matrix< T, 2, 1, MOpt > *barycentricCoordinates)
 Check if 2 segments intersect at a given time of their motion. More...
 
template<class T , int MOpt>
bool SurgSim::Math::calculateCcdContactSegmentSegment (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, const std::pair< Eigen::Matrix< T, 3, 1, MOpt >, Eigen::Matrix< T, 3, 1, MOpt >> &D, T *timeOfImpact, T *s0p1Factor, T *s1p1Factor)
 Continuous collision detection between two segments AB and CD. More...