Choreonoid  1.5
Classes | Functions
Opcode Namespace Reference

Classes

class  CollisionPairInserter
 
class  SSVTreeCollider
 collision detector based on SSV(Sphere Swept Volume) More...
 
class  StdCollisionPairInserter
 

Functions

float PointSegDist (const Point &P, const Point &u0, const Point &u1)
 compute distance between a point and a line segment More...
 
float SegSegDist (const Point &u0, const Point &u1, const Point &v0, const Point &v1)
 compute distance between line segments More...
 
float TriTriDist (const Point &U0, const Point &U1, const Point &U2, const Point &V0, const Point &V1, const Point &V2, Point &cp0, Point &cp1)
 compute the minimum distance and the closest points between two triangles More...
 
int tri_tri_overlap (const Vector3 &P1, const Vector3 &P2, const Vector3 &P3, const Vector3 &Q1, const Vector3 &Q2, const Vector3 &Q3, collision_data *col_p, CollisionPairInserter *collisionPairInserter)
 

Function Documentation

float Opcode::PointSegDist ( const Point &  P,
const Point &  u0,
const Point &  u1 
)

compute distance between a point and a line segment

Parameters
Pthe point
u0one of end points of the line segment
u1the other end point of the line segment
Returns
distance between the point and the line segment
float Opcode::SegSegDist ( const Point &  u0,
const Point &  u1,
const Point &  v0,
const Point &  v1 
)

compute distance between line segments

u0 one of end points of the first line segment u1 the other end point of the first line segment v0 one of end points of the second line segment v1 the other end point of the second line segment

Returns
distance between line segments
int Opcode::tri_tri_overlap ( const Vector3 P1,
const Vector3 P2,
const Vector3 P3,
const Vector3 Q1,
const Vector3 Q2,
const Vector3 Q3,
collision_data col_p,
CollisionPairInserter collisionPairInserter 
)
float Opcode::TriTriDist ( const Point &  U0,
const Point &  U1,
const Point &  U2,
const Point &  V0,
const Point &  V1,
const Point &  V2,
Point &  cp0,
Point &  cp1 
)

compute the minimum distance and the closest points between two triangles

Parameters
U0the first vertex of the first triangle
U1the second vertex of the first triangle
U2the third vertex of the first triangle
V0the first vertex of the second triangle
V1the second vertex of the second triangle
V2the third vertex of the second triangle
cp0the closest point on the first triangle
cp1the closest point on the second triangle
Returns
the minimum distance