krislibrary/krislibrary_docs/Geometry_8h_source.html

 #ifndef ROBOTICS_GEOMETRY_H
 #define ROBOTICS_GEOMETRY_H

 #include <KrisLibrary/math3d/rotation.h>
 #include <KrisLibrary/math3d/Sphere3D.h>
 #include <KrisLibrary/math3d/Circle3D.h>
 using namespace Math3D;

 template <class Rot>
 void GetRotationAboutLocalPoint(const Vector3& localpt,const Vector3& pt,const Rot& r,RigidTransform& T);

 template <class Rot>
 void GetRotationAboutPoint(const Vector3& pt,const Rot& r,RigidTransform& T);

 bool BallCircleCollision(const Sphere3D& a, const Circle3D& b);

 void CircleCircleClosestPoints(const Circle3D& a, const Circle3D& b,
                                Vector3& pa, Vector3& pb);

 int BallBallIntersection(const Sphere3D& a,const Sphere3D& b,Circle3D& c);

 void CollisionSelfTest();

 #endif
Math3D::Vector3
A 3D vector class.
Definition: math3d/primitives.h:136

CircleCircleClosestPoints
void CircleCircleClosestPoints(const Circle3D &a, const Circle3D &b, Vector3 &pa, Vector3 &pb)
Calculates the closest points on the boundaries of circles a,b.
Definition: Geometry.cpp:65

rotation.h
3D rotation representations.

Math3D::RigidTransform
A rigid-body transformation.
Definition: math3d/primitives.h:820

Math3D::Sphere3D
A 3D sphere class.
Definition: Sphere3D.h:21

BallBallIntersection
int BallBallIntersection(const Sphere3D &a, const Sphere3D &b, Circle3D &c)
Calculates the intersection region of the balls a,b.
Definition: Geometry.cpp:98

GetRotationAboutLocalPoint
void GetRotationAboutLocalPoint(const Vector3 &localpt, const Vector3 &pt, const Rot &r, RigidTransform &T)
Definition: Geometry.cpp:8

Math3D
Contains all the definitions in the Math3D package.
Definition: AnyGeometry.h:13

Math3D::Circle3D
A 2D circle in 3D space class.
Definition: Circle3D.h:21

BallCircleCollision
bool BallCircleCollision(const Sphere3D &a, const Circle3D &b)
Returns true if the solid ball a intersects the circle boundary b.
Definition: Geometry.cpp:60

GetRotationAboutPoint
void GetRotationAboutPoint(const Vector3 &pt, const Rot &r, RigidTransform &T)
Returns the RigidTransform that rotates by r about the point pt.
Definition: Geometry.cpp:18