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. | |
Function Documentation
◆ 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)
