TriangleCapsuleContactCalculation-inl.h File Reference
`#include "SurgSim/Math/Valid.h"`
`#include "SurgSim/DataStructures/OptionalValue.h"`

Go to the source code of this file.

## Classes

class | SurgSim::Math::TriangleCapsuleContactCalculation::TriangleCapsuleContactCalculation< T, MOpt >
| Class used to find the intersection between a triangle and a capsule. More...

## Namespaces

| SurgSim
| SurgSim::Math
| SurgSim::Math::TriangleCapsuleContactCalculation

## Functions

template<class T , int MOpt>
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. More...
template<class T , int MOpt>

bool

SurgSim::Math::calculateContactTriangleCapsule (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, const Eigen::Matrix< T, 3, 1, MOpt > &cv0, const Eigen::Matrix< T, 3, 1, MOpt > &cv1, double cr, T *penetrationDepth, Eigen::Matrix< T, 3, 1, MOpt > *penetrationPointTriangle, Eigen::Matrix< T, 3, 1, MOpt > *penetrationPointCapsule, Eigen::Matrix< T, 3, 1, MOpt > *contactNormal, Eigen::Matrix< T, 3, 1, MOpt > *penetrationPointCapsuleAxis)

| Calculate the contact between a capsule and a triangle. More...
template<class T , int MOpt>

bool

SurgSim::Math::calculateContactTriangleCapsule (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 > &cv0, const Eigen::Matrix< T, 3, 1, MOpt > &cv1, double cr, T *penetrationDepth, Eigen::Matrix< T, 3, 1, MOpt > *penetrationPointTriangle, Eigen::Matrix< T, 3, 1, MOpt > *penetrationPointCapsule, Eigen::Matrix< T, 3, 1, MOpt > *contactNormal, Eigen::Matrix< T, 3, 1, MOpt > *penetrationPointCapsuleAxis)

| Calculate the contact between a capsule and a triangle. More...