16 #ifndef SURGSIM_MATH_POINTTRIANGLECCDCONTACTCALCULATION_INL_H 17 #define SURGSIM_MATH_POINTTRIANGLECCDCONTACTCALCULATION_INL_H 20 #include <Eigen/Geometry> 37 template <
class T,
int MOpt>
40 const std::pair<Eigen::Matrix<T, 3, 1, MOpt>, Eigen::Matrix<T, 3, 1, MOpt>>& P,
41 const std::pair<Eigen::Matrix<T, 3, 1, MOpt>, Eigen::Matrix<T, 3, 1, MOpt>>& A,
42 const std::pair<Eigen::Matrix<T, 3, 1, MOpt>, Eigen::Matrix<T, 3, 1, MOpt>>& B,
43 const std::pair<Eigen::Matrix<T, 3, 1, MOpt>, Eigen::Matrix<T, 3, 1, MOpt>>& C,
46 Eigen::Matrix<T, 3, 1, MOpt> Pt =
interpolate(P.first, P.second, time);
47 Eigen::Matrix<T, 3, 1, MOpt> At =
interpolate(A.first, A.second, time);
48 Eigen::Matrix<T, 3, 1, MOpt> Bt =
interpolate(B.first, B.second, time);
49 Eigen::Matrix<T, 3, 1, MOpt> Ct =
interpolate(C.first, C.second, time);
53 for (
int i = 0; i < 3; i++)
55 if (std::abs((*barycentricCoordinates)[i]) < Math::Geometry::ScalarEpsilon)
57 (*barycentricCoordinates)[i] = 0.0;
59 if (std::abs(1.0 - (*barycentricCoordinates)[i]) < Math::Geometry::ScalarEpsilon)
61 (*barycentricCoordinates)[i] = 1.0;
66 (*barycentricCoordinates)[0] >= 0.0 &&
67 (*barycentricCoordinates)[1] >= 0.0 &&
68 (*barycentricCoordinates)[2] >= 0.0);
83 template <
class T,
int MOpt>
inline 85 const std::pair<Eigen::Matrix<T, 3, 1, MOpt>, Eigen::Matrix<T, 3, 1, MOpt>>& P,
86 const std::pair<Eigen::Matrix<T, 3, 1, MOpt>, Eigen::Matrix<T, 3, 1, MOpt>>& A,
87 const std::pair<Eigen::Matrix<T, 3, 1, MOpt>, Eigen::Matrix<T, 3, 1, MOpt>>& B,
88 const std::pair<Eigen::Matrix<T, 3, 1, MOpt>, Eigen::Matrix<T, 3, 1, MOpt>>& C,
89 T* timeOfImpact, T* tv01Param, T* tv02Param)
91 std::array<T, 3> roots;
95 for (
int rootId = 0; rootId < numberOfRoots; ++rootId)
97 Eigen::Matrix<T, 3, 1, MOpt> baryCoords;
101 *timeOfImpact = roots[rootId];
102 *tv01Param = baryCoords[1];
103 *tv02Param = baryCoords[2];
109 SURGSIM_ASSERT(*tv01Param + *tv02Param <= 1.0 + Geometry::ScalarEpsilon);
121 #endif // SURGSIM_MATH_POINTTRIANGLECCDCONTACTCALCULATION_INL_H Definition: CompoundShapeToGraphics.cpp:29
#define SURGSIM_ASSERT(condition)
Assert that condition is true.
Definition: Assert.h:77
Eigen::Quaternion< T, QOpt > interpolate(const Eigen::Quaternion< T, QOpt > &q0, const Eigen::Quaternion< T, QOpt > &q1, T t)
Interpolate (slerp) between 2 quaternions.
Definition: Quaternion.h:149
int timesOfCoplanarityInRange01(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, std::array< T, 3 > *timesOfCoplanarity)
Test when 4 points are coplanar in the range [0..1] given their linear motion.
Definition: Geometry.h:1840
bool barycentricCoordinates(const Eigen::Matrix< T, 3, 1, MOpt > &pt, const Eigen::Matrix< T, 3, 1, MOpt > &sv0, const Eigen::Matrix< T, 3, 1, MOpt > &sv1, Eigen::Matrix< T, 2, 1, MOpt > *coordinates)
Calculate the barycentric coordinates of a point with respect to a line segment.
Definition: Geometry.h:71
bool isPointInsideTriangle(const Eigen::Matrix< T, 3, 1, MOpt > &pt, const Eigen::Matrix< T, 3, 1, MOpt > &tv0, const Eigen::Matrix< T, 3, 1, MOpt > &tv1, const Eigen::Matrix< T, 3, 1, MOpt > &tv2, const Eigen::Matrix< T, 3, 1, MOpt > &tn)
Check if a point is inside a triangle.
Definition: Geometry.h:159
bool 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.
Definition: PointTriangleCcdContactCalculation-inl.h:84