chrono::collision::utils Namespace Reference

## Description

Collision detection utility functions.

## Functions

bool LineLineIntersect (const ChVector<> &p1, const ChVector<> &p2, const ChVector<> &p3, const ChVector<> &p4, ChVector<> *pa, ChVector<> *pb, double *mua, double *mub)
Calculate the line segment PaPb that is the shortest route between two lines P1P2 and P3P4. More...

double PointLineDistance (const ChVector<> &p, const ChVector<> &dA, const ChVector<> &dB, double &mu, bool &is_insegment)
Calculate distance between a point p and a line identified with segment dA,dB. More...

double PointTriangleDistance (const ChVector<> &B, const ChVector<> &A1, const ChVector<> &A2, const ChVector<> &A3, double &mu, double &mv, bool &is_into, ChVector<> &Bprojected)
Calculate distance of a point from a triangle surface. More...

bool DegenerateTriangle (const ChVector<> &Dx, const ChVector<> &Dy)
Check if the triangle defined by the two given vectors is degenerate.

bool DegenerateTriangle (const ChVector<> &v1, const ChVector<> &v2, const ChVector<> &v3)
Check if the triangle defined by the three given vertices is degenerate.

## ◆ LineLineIntersect()

 ChApi bool chrono::collision::utils::LineLineIntersect ( const ChVector<> & p1, const ChVector<> & p2, const ChVector<> & p3, const ChVector<> & p4, ChVector<> * pa, ChVector<> * pb, double * mua, double * mub )

Calculate the line segment PaPb that is the shortest route between two lines P1P2 and P3P4.

Calculate also the values of mua and mub where Pa = P1 + mua (P2 - P1) Pb = P3 + mub (P4 - P3) Return false if no solution exists.

## ◆ PointLineDistance()

 ChApi double chrono::collision::utils::PointLineDistance ( const ChVector<> & p, const ChVector<> & dA, const ChVector<> & dB, double & mu, bool & is_insegment )

Calculate distance between a point p and a line identified with segment dA,dB.

Returns distance. Also, the mu value reference tells if the nearest projection of point on line falls into segment (for mu 0...1)

## ◆ PointTriangleDistance()

 ChApi double chrono::collision::utils::PointTriangleDistance ( const ChVector<> & B, const ChVector<> & A1, const ChVector<> & A2, const ChVector<> & A3, double & mu, double & mv, bool & is_into, ChVector<> & Bprojected )

Calculate distance of a point from a triangle surface.

Also computes if projection is inside the triangle. If is_into = true, Bprojected is also computed. Returns distance (positive if 'out' side, out is where points A1 A2 A3 can be read in clockwise fashion)