Choreonoid  1.5
DistFuncs.h
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1 
2 #ifndef CNOID_COLLISION_DIST_FUNCS_H_INCLUDED
3 #define CNOID_COLLISION_DIST_FUNCS_H_INCLUDED
4 
5 #include "Opcode/Opcode.h"
6 
7 namespace Opcode {
8 
16 float PointSegDist(const Point& P, const Point& u0, const Point& u1);
17 
26 float SegSegDist(const Point& u0, const Point& u1, const Point& v0, const Point& v1);
27 
40 float TriTriDist(const Point& U0, const Point& U1, const Point& U2,
41  const Point& V0, const Point& V1, const Point& V2,
42  Point& cp0, Point& cp1);
43 }
44 
45 #endif
Definition: CollisionPairInserter.h:12
float SegSegDist(const Point &u0, const Point &u1, const Point &v0, const Point &v1)
compute distance between line segments
Definition: DistFuncs.cpp:279
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
Definition: DistFuncs.cpp:148
float PointSegDist(const Point &P, const Point &u0, const Point &u1)
compute distance between a point and a line segment
Definition: DistFuncs.cpp:107