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template<class T , int MOpt> |
bool | SurgSim::Math::isPointInsideTriangle (T time, const std::pair< Eigen::Matrix< T, 3, 1, MOpt >, Eigen::Matrix< T, 3, 1, MOpt >> &P, 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, Eigen::Matrix< T, 3, 1, MOpt > *barycentricCoordinates) |
| Check if a point belongs to a triangle at a given time of their motion. More...
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template<class T , int MOpt> |
bool | SurgSim::Math::calculateCcdContactPointTriangle (const std::pair< Eigen::Matrix< T, 3, 1, MOpt >, Eigen::Matrix< T, 3, 1, MOpt >> &P, 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, T *timeOfImpact, T *tv01Param, T *tv02Param) |
| Continuous collision detection between a point P and a triangle ABC. More...
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