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

Go to the source code of this file.

## Namespaces

| SurgSim
| SurgSim::Math

## Functions

template<class T , int MOpt>

bool

SurgSim::Math::isPointInsideTriangle (T time, 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, Eigen::Matrix< T, 3, 1, MOpt > *barycentricCoordinates)

| Check if a point belongs to a triangle at a given time of their motion. More...
template<class T , int MOpt>

bool

SurgSim::Math::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. More...