29 #include <Eigen/Dense> 39 static bool AABBAABB(
const Eigen::Vector3d& min0,
40 const Eigen::Vector3d& max0,
41 const Eigen::Vector3d& min1,
42 const Eigen::Vector3d& max1);
45 const Eigen::Vector3d& p1,
46 const Eigen::Vector3d& p2,
47 const Eigen::Vector3d& q0,
48 const Eigen::Vector3d& q1,
49 const Eigen::Vector3d& q2);
51 static bool TriangleAABB(
const Eigen::Vector3d& box_center,
52 const Eigen::Vector3d& box_half_size,
53 const Eigen::Vector3d& vert0,
54 const Eigen::Vector3d& vert1,
55 const Eigen::Vector3d& vert2);
59 const Eigen::Vector3d& p1,
60 const Eigen::Vector3d& p2,
61 const Eigen::Vector3d& p3);
70 const Eigen::Vector3d& p1,
71 const Eigen::Vector3d& q0,
72 const Eigen::Vector3d& q1);
80 const Eigen::Vector3d& p1,
81 const Eigen::Vector3d& q0,
82 const Eigen::Vector3d& q1);
static double LineSegmentsMinimumDistance(const Eigen::Vector3d &p0, const Eigen::Vector3d &p1, const Eigen::Vector3d &q0, const Eigen::Vector3d &q1)
Definition: IntersectionTest.cpp:138
static bool PointsCoplanar(const Eigen::Vector3d &p0, const Eigen::Vector3d &p1, const Eigen::Vector3d &p2, const Eigen::Vector3d &p3)
Tests if the given four points all lie on the same plane.
Definition: IntersectionTest.cpp:90
A bounding box that is aligned along the coordinate axes.
Definition: BoundingVolume.h:149
static utility::optional< double > LineSlabAABB(const Line3D &line, const AxisAlignedBoundingBox &box)
Returns the lower intersection parameter for a line with an axis aligned bounding box or no value if ...
Definition: IntersectionTest.h:193
static double LinesMinimumDistance(const Eigen::Vector3d &p0, const Eigen::Vector3d &p1, const Eigen::Vector3d &q0, const Eigen::Vector3d &q1)
Definition: IntersectionTest.cpp:97
static bool TriangleTriangle3d(const Eigen::Vector3d &p0, const Eigen::Vector3d &p1, const Eigen::Vector3d &p2, const Eigen::Vector3d &q0, const Eigen::Vector3d &q1, const Eigen::Vector3d &q2)
Definition: IntersectionTest.cpp:53
static bool TriangleAABB(const Eigen::Vector3d &box_center, const Eigen::Vector3d &box_half_size, const Eigen::Vector3d &vert0, const Eigen::Vector3d &vert1, const Eigen::Vector3d &vert2)
Definition: IntersectionTest.cpp:77
static utility::optional< double > LineExactAABB(const Line3D &line, const AxisAlignedBoundingBox &box)
Returns the lower intersection parameter for a line with an axis aligned bounding box or empty if no ...
Definition: IntersectionTest.h:137
Definition: Optional.h:54
Definition: PinholeCameraIntrinsic.cpp:35
static bool AABBAABB(const Eigen::Vector3d &min0, const Eigen::Vector3d &max0, const Eigen::Vector3d &min1, const Eigen::Vector3d &max1)
Definition: IntersectionTest.cpp:37
virtual utility::optional< double > SlabAABB(const AxisAlignedBoundingBox &box) const
Returns the lower intersection parameter for a line with an axis aligned bounding box or empty if no ...
Definition: Line3D.cpp:129
virtual utility::optional< double > ExactAABB(const AxisAlignedBoundingBox &box) const
Returns the lower intersection parameter for a line with an axis aligned bounding box or empty if no ...
Definition: Line3D.cpp:65
Line3D is a class which derives from Eigen::ParametrizedLine<double, 3> in order to capture the seman...
Definition: Line3D.h:68
Definition: IntersectionTest.h:37