/usr/include/sofa/helper/proximity.h is in libsofa1-dev 1.0~beta4-9.
This file is owned by root:root, with mode 0o644.
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* SOFA, Simulation Open-Framework Architecture, version 1.0 beta 4 *
* (c) 2006-2009 MGH, INRIA, USTL, UJF, CNRS *
* *
* This library is free software; you can redistribute it and/or modify it *
* under the terms of the GNU Lesser General Public License as published by *
* the Free Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. *
* *
* This library is distributed in the hope that it will be useful, but WITHOUT *
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
* for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with this library; if not, write to the Free Software Foundation, *
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
*******************************************************************************
* SOFA :: Framework *
* *
* Authors: M. Adam, J. Allard, B. Andre, P-J. Bensoussan, S. Cotin, C. Duriez,*
* H. Delingette, F. Falipou, F. Faure, S. Fonteneau, L. Heigeas, C. Mendoza, *
* M. Nesme, P. Neumann, J-P. de la Plata Alcade, F. Poyer and F. Roy *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#ifndef SOFA_COMPONENT_COLLISION_PROXIMITY_H
#define SOFA_COMPONENT_COLLISION_PROXIMITY_H
#include <sofa/defaulttype/Vec.h>
#include <sofa/helper/helper.h>
namespace sofa
{
namespace helper
{
//-----------------------------------------------------------------------------
//--DistanceTriTri--
//------------------
// this class computes the shortest distance between a triangle P and a triangle Q
//-----------------------------------------------------------------------------
class SOFA_HELPER_API DistanceTriTri
{
public:
DistanceTriTri(); // start a Proximity solver
~DistanceTriTri();
// init the solver with the new coordinates of the triangle & the segment
// solve the lcp
//void NewComputation(Triangle *triP, Triangle *triQ, sofa::defaulttype::Vector3 &Presult, sofa::defaulttype::Vector3 &Qresult);
void NewComputation(const sofa::defaulttype::Vector3& P1, const sofa::defaulttype::Vector3& P2, const sofa::defaulttype::Vector3& P3, const sofa::defaulttype::Vector3& Q1, const sofa::defaulttype::Vector3& Q2, const sofa::defaulttype::Vector3& Q3, sofa::defaulttype::Vector3 &Presult, sofa::defaulttype::Vector3 &Qresult);
//double getAlphaP(){return _result[6];}
//double getBetaP(){return _result[7];}
//double getAlphaQ(){return _result[8];}
//double getBetaQ(){return _result[9];}
private:
//double **_A;
//double *_b;
//double *_result;
};
//-----------------------------------------------------------------------------
//--DistanceSegTri--
//------------------
// this class compute the shortest distance between a triangle and a segment
//-----------------------------------------------------------------------------
class SOFA_HELPER_API DistanceSegTri
{
public:
DistanceSegTri(); // start a Proximity solver
~DistanceSegTri();
// init the solver with the new coordinates of the triangle & the segment
// solve the lcp
//void NewComputation(Triangle *tri, const sofa::defaulttype::Vector3 &Q1, const sofa::defaulttype::Vector3 &Q2, sofa::defaulttype::Vector3 &Presult, sofa::defaulttype::Vector3 &Qresult);
void NewComputation(const sofa::defaulttype::Vector3 &P1, const sofa::defaulttype::Vector3 &P2, const sofa::defaulttype::Vector3 &P3, const sofa::defaulttype::Vector3 &Q1, const sofa::defaulttype::Vector3 &Q2, sofa::defaulttype::Vector3 &Presult, sofa::defaulttype::Vector3 &Qresult);
// we should add the same procedure using with AAB
//double distanceBSphere(Triangle &tri, sofa::defaulttype::Vector3 &Q1, sofa::defaulttype::Vector3&Q2);
//double distanceBBox(Triangle &tri, sofa::defaulttype::Vector3 &Q1, sofa::defaulttype::Vector3&Q2);
//double getAlpha(){return _result[5];}
//double getBeta(){return _result[6];}
//double getGamma(){return _result[7];}
private:
//double **_A;
//double *_b;
//double *_result;
};
//-----------------------------------------------------------------------------
//--DistancePointTri--
//------------------
// this class compute the shortest distance between a triangle and a Point
//-----------------------------------------------------------------------------
class SOFA_HELPER_API DistancePointTri
{
public:
DistancePointTri(); // start a Proximity solver
~DistancePointTri();
// init the solver with the new coordinates of the triangle & the segment
// solve the lcp
//void NewComputation(Triangle *tri, const sofa::defaulttype::Vector3 &Q, sofa::defaulttype::Vector3 &Presult);
void NewComputation(const sofa::defaulttype::Vector3 &P1, const sofa::defaulttype::Vector3 &P2, const sofa::defaulttype::Vector3 &P3, const sofa::defaulttype::Vector3 &Q, sofa::defaulttype::Vector3 &Presult);
// distance using bbox precomputed on the triangle
//double distanceBBox(Triangle &tri, const sofa::defaulttype::Vector3 &Q);
//double getAlpha(){return _result[4];}
//double getBeta(){return _result[5];}
private:
//double **_A;
//double *_b;
//double *_result;
};
} // namespace helper
} // namespace sofa
#endif
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