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16 #ifndef SURGSIM_COLLISION_SEGMENTSEGMENTCCDMOVINGCONTACT_H
17 #define SURGSIM_COLLISION_SEGMENTSEGMENTCCDMOVINGCONTACT_H
29 class SegmentMeshShape;
75 const std::array<Math::Vector3d, 2>& pt0Positions,
76 const std::array<Math::Vector3d, 2>& pt1Positions,
77 const std::array<Math::Vector3d, 2>& qt0Positions,
78 const std::array<Math::Vector3d, 2>& qt1Positions,
79 double thicknessEpsilon,
80 double timePrecisionEpsilon,
98 const std::array<Math::Vector3d, 2>& pt0Positions,
99 const std::array<Math::Vector3d, 2>& pt1Positions,
100 const std::array<Math::Vector3d, 2>& qt0Positions,
101 const std::array<Math::Vector3d, 2>& qt1Positions,
104 double timePrecisionEpsilon,
122 const std::array<Math::Vector3d, 2>& pT0,
123 const std::array<Math::Vector3d, 2>& pT1,
124 const std::array<Math::Vector3d, 2>& qT0,
125 const std::array<Math::Vector3d, 2>& qT1,
128 double timePrecisionEpsilon,
129 double* t,
double* r,
double* s);
148 const std::array<Math::Vector3d, 2>& pT0,
149 const std::array<Math::Vector3d, 2>& pT1,
150 const std::array<Math::Vector3d, 2>& qT0,
151 const std::array<Math::Vector3d, 2>& qT1,
153 double thicknessP,
double thicknessQ,
154 double timePrecisionEpsilon,
155 double* t,
double* r,
double* s,
int depth = 0);
174 const std::array<Math::Vector3d, 2>& pT0,
175 const std::array<Math::Vector3d, 2>& pT1,
176 const std::array<Math::Vector3d, 2>& qT0,
177 const std::array<Math::Vector3d, 2>& qT1,
179 double timePrecisionEpsilon,
180 double thicknessP,
double thicknessQ,
181 double* t,
double* r,
double* s,
197 double* t,
double* r,
double* s,
233 std::shared_ptr<SurgSim::Framework::Logger>
m_logger;
239 #endif // SURGSIM_COLLISION_SEGMENTSEGMENTCCDMOVINGCONTACT_H
Eigen::Matrix< double, 3, 1 > Vector3d
A 3D vector of doubles.
Definition: Vector.h:57
Definition: CompoundShapeToGraphics.cpp:30
SegmentSegmentCcdIntervalCheck uses the Interval classes including the LinearMotion and Polynomial fa...
Definition: SegmentSegmentCcdIntervalCheck.h:38