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Classes | |
class | TriangleCapsuleContactCalculation |
Class used to find the intersection between a triangle and a capsule. More... | |
Functions | |
template<class T , int MOpt> | |
Eigen::Matrix< T, 3, 1, MOpt > | pointWithTangentOnEllipse (const Eigen::Matrix< T, 3, 1, MOpt > ¢er, const Eigen::Matrix< T, 3, 1, MOpt > &majorAxis, const Eigen::Matrix< T, 3, 1, MOpt > &minorAxis, const double majorRadius, const double minorRadius, const Eigen::Matrix< T, 3, 1, MOpt > &tangent) |
Find the point on (positive X side of) ellipse parallel to the given tangent. More... | |
Eigen::Matrix<T, 3, 1, MOpt> SurgSim::Math::TriangleCapsuleContactCalculation::pointWithTangentOnEllipse | ( | const Eigen::Matrix< T, 3, 1, MOpt > & | center, |
const Eigen::Matrix< T, 3, 1, MOpt > & | majorAxis, | ||
const Eigen::Matrix< T, 3, 1, MOpt > & | minorAxis, | ||
const double | majorRadius, | ||
const double | minorRadius, | ||
const Eigen::Matrix< T, 3, 1, MOpt > & | tangent | ||
) |
Find the point on (positive X side of) ellipse parallel to the given tangent.
T | Accuracy of the calculation, can usually be inferred. |
MOpt | Eigen Matrix options, can usually be inferred. |
tangent | The given tangent to this ellipse, whose corresponding point is to be found |
center | Center of the ellipse. |
majorAxis,minorAxis | The major/minor axes of the ellipse, both of unit length |
majorRadius,minorRadius | Major/minor radii of the ellipse |