RayTriangleIntersection.h

Go to the documentation of this file.

/******************************************************************************
*       SOFA, Simulation Open-Framework Architecture, version 1.0 beta 3      *
*                (c) 2006-2008 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 :: Modules                               *
*                                                                             *
* Authors: The SOFA Team and external contributors (see Authors.txt)          *
*                                                                             *
* Contact information: contact@sofa-framework.org                             *
******************************************************************************/
#ifndef SOFA_COMPONENT_RAYTRIANGLEINTERSECTION_H
#define SOFA_COMPONENT_RAYTRIANGLEINTERSECTION_H

#include <sofa/component/collision/Triangle.h>

namespace sofa
{

namespace component
{

namespace collision
{


//-----------------------------------------------------------------------------
//--IntersectionRayTriangle--
//------------------
// this class computes if a Triangle P intersects a line segment
//-----------------------------------------------------------------------------

class RayTriangleIntersection
{
public:
    RayTriangleIntersection(); // start a Proximity solver
    ~RayTriangleIntersection();

    // init the solver with the new coordinates of the triangle & the segment
    // solve the lcp
    bool NewComputation( Triangle *triP, const sofa::defaulttype::Vector3 &origin, const sofa::defaulttype::Vector3 &direction,  double &t,  double &u, double &v);

    //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;
};

}
}
}
#endif