SegmentSegmentCcdContactCalculation-inl.h File Reference

#include <Eigen/Core>
#include <Eigen/Geometry>
#include "SurgSim/Math/CubicSolver.h"
#include "SurgSim/Math/Scalar.h"

Go to the source code of this file.

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...