chrono::collision::ChCollisionUtils Class Reference

## Description

Class with some utility functions for collision detection, as static functions.

#include <ChCCollisionUtils.h>

## Static Public Member Functions

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

static double PointLineDistance (Vector p, Vector dA, Vector dB, double &mu, int &is_insegment)
Calculate distance between a point p and a line identified with segment dA,dB. More...

static double PointTriangleDistance (Vector B, Vector A1, Vector A2, Vector A3, double &mu, double &mv, int &is_into, Vector &Bprojected)
Calculate distance of a point from a triangle surface. More...

## Member Function Documentation

 bool chrono::collision::ChCollisionUtils::LineLineIntersect ( Vector p1, Vector p2, Vector p3, Vector p4, Vector * pa, Vector * pb, double * mua, double * mub )
static

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.

 double chrono::collision::ChCollisionUtils::PointLineDistance ( Vector p, Vector dA, Vector dB, double & mu, int & is_insegment )
static

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)

 double chrono::collision::ChCollisionUtils::PointTriangleDistance ( Vector B, Vector A1, Vector A2, Vector A3, double & mu, double & mv, int & is_into, Vector & Bprojected )
static

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)