SurgSim::Math::TriangleCapsuleContactCalculation Namespace Reference

## 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 > &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...

## Function Documentation

## pointWithTangentOnEllipse()

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.

Template Parameters

  T | Accuracy of the calculation, can usually be inferred.
  MOpt | Eigen Matrix options, can usually be inferred.

Parameters

  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

Note
  majorAxis and minorAxis are assumed to be orthogonal to each other.

Returns
  The point on the ellipse (in positive x direction) which has the given tangent.