16 #ifndef SURGSIM_MATH_SEGMENTSEGMENTCCDCONTACTCALCULATION_INL_H
17 #define SURGSIM_MATH_SEGMENTSEGMENTCCDCONTACTCALCULATION_INL_H
20 #include <Eigen/Geometry>
39 template <
class T,
int MOpt>
42 const std::pair<Eigen::Matrix<T, 3, 1, MOpt>, Eigen::Matrix<T, 3, 1, MOpt>>& A,
43 const std::pair<Eigen::Matrix<T, 3, 1, MOpt>, Eigen::Matrix<T, 3, 1, MOpt>>& B,
44 const std::pair<Eigen::Matrix<T, 3, 1, MOpt>, Eigen::Matrix<T, 3, 1, MOpt>>& C,
45 const std::pair<Eigen::Matrix<T, 3, 1, MOpt>, Eigen::Matrix<T, 3, 1, MOpt>>& D,
48 Eigen::Matrix<T, 3, 1, MOpt> At =
interpolate(A.first, A.second, time);
49 Eigen::Matrix<T, 3, 1, MOpt> Bt =
interpolate(B.first, B.second, time);
50 Eigen::Matrix<T, 3, 1, MOpt> Ct =
interpolate(C.first, C.second, time);
51 Eigen::Matrix<T, 3, 1, MOpt> Dt =
interpolate(D.first, D.second, time);
61 Eigen::Matrix<T, 3, 2> matrixA;
62 matrixA.col(0) = Bt - At;
63 matrixA.col(1) = -(Dt - Ct);
65 Eigen::Matrix<T, 3, 1, MOpt> b = Ct - At;
66 Eigen::Matrix<T, 2, 2> inv;
68 (matrixA.transpose() * matrixA).computeInverseWithCheck(inv, invertible);
76 for (
int i = 0; i < 2; i++)
80 (*barycentricCoordinates)[i] = 0.0;
84 (*barycentricCoordinates)[i] = 1.0;
90 (*barycentricCoordinates)[1] >= 0.0 && (*barycentricCoordinates)[1] <= 1.0;
106 template <
class T,
int MOpt>
inline
108 const std::pair<Eigen::Matrix<T, 3, 1, MOpt>, Eigen::Matrix<T, 3, 1, MOpt>>& A,
109 const std::pair<Eigen::Matrix<T, 3, 1, MOpt>, Eigen::Matrix<T, 3, 1, MOpt>>& B,
110 const std::pair<Eigen::Matrix<T, 3, 1, MOpt>, Eigen::Matrix<T, 3, 1, MOpt>>& C,
111 const std::pair<Eigen::Matrix<T, 3, 1, MOpt>, Eigen::Matrix<T, 3, 1, MOpt>>& D,
112 T* timeOfImpact, T* s0p1Factor, T* s1p1Factor)
114 std::array<T, 3> roots;
118 for (
int rootId = 0; rootId < numberOfRoots; ++rootId)
124 *timeOfImpact = roots[rootId];
143 #endif // SURGSIM_MATH_SEGMENTSEGMENTCCDCONTACTCALCULATION_INL_H