SegmentSegmentCcdContactCalculation-inl.h File Reference
`#include <Eigen/Core>`
`#include <Eigen/Geometry>`
`#include "SurgSim/Math/CubicSolver.h"`
`#include "SurgSim/Math/Scalar.h"`

Go to the source code of this file.

## Namespaces

| SurgSim
| SurgSim::Math

## Functions

template<class T , int MOpt>

bool

SurgSim::Math::areSegmentsIntersecting (T time, 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, Eigen::Matrix< T, 2, 1, MOpt > *barycentricCoordinates)

| Check if 2 segments intersect at a given time of their motion. More...
template<class T , int MOpt>

bool

SurgSim::Math::calculateCcdContactSegmentSegment (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, T *timeOfImpact, T *s0p1Factor, T *s1p1Factor)

| Continuous collision detection between two segments AB and CD. More...