bool Intersect::intersect_Triangle(const Vec3f& P1, const Vec3f& P2, const Vec3f& P3,
const Vec3f& Q1, const Vec3f& Q2, const Vec3f& Q3,
const Matrix3f& R, const Vec3f& T,
Vec3f* contact_points,
unsigned int* num_contact_points,
FCL_REAL* penetration_depth,
Vec3f* normal)
{
Vec3f Q1_ = R * Q1 + T;
Vec3f Q2_ = R * Q2 + T;
Vec3f Q3_ = R * Q3 + T;
return intersect_Triangle(P1, P2, P3, Q1_, Q2_, Q3_, contact_points, num_contact_points, penetration_depth, normal);
}
bool Intersect::intersect_Triangle(const Vec3f& P1, const Vec3f& P2, const Vec3f& P3,
const Vec3f& Q1, const Vec3f& Q2, const Vec3f& Q3,
const Transform3f& tf,
Vec3f* contact_points,
unsigned int* num_contact_points,
FCL_REAL* penetration_depth,
Vec3f* normal)
{
Vec3f Q1_ = tf.transform(Q1);
Vec3f Q2_ = tf.transform(Q2);
Vec3f Q3_ = tf.transform(Q3);
return intersect_Triangle(P1, P2, P3, Q1_, Q2_, Q3_, contact_points, num_contact_points, penetration_depth, normal);
}
bool Intersect::intersect_Triangle(const Vec3f& P1, const Vec3f& P2, const Vec3f& P3,
const Vec3f& Q1, const Vec3f& Q2, const Vec3f& Q3,
const Vec3f R[3], const Vec3f& T,
Vec3f* contact_points,
unsigned int* num_contact_points,
BVH_REAL* penetration_depth,
Vec3f* normal)
{
Vec3f Q1_ = Vec3f(R[0].dot(Q1), R[1].dot(Q1), R[2].dot(Q1)) + T;
Vec3f Q2_ = Vec3f(R[0].dot(Q2), R[1].dot(Q2), R[2].dot(Q2)) + T;
Vec3f Q3_ = Vec3f(R[0].dot(Q3), R[1].dot(Q3), R[2].dot(Q3)) + T;
return intersect_Triangle(P1, P2, P3, Q1_, Q2_, Q3_, contact_points, num_contact_points, penetration_depth, normal);
}
