collision::raytrace Namespace Reference

Classes
struct	EndsLineSegmentSort_X
struct	EndsLineSegmentSort_X_goe
struct	EndsLineSegmentSort_Y
struct	EndsLineSegmentSort_Y_goe
struct	Point
struct	StartsLineSegmentSort_X
struct	StartsLineSegmentSort_X_goe
struct	StartsLineSegmentSort_Y
struct	StartsLineSegmentSort_Y_goe
struct	Vector2dSort_X
struct	Vector2dSort_Y

Functions
void	RaytraceDebugOutput (const char *)
void	RaiseRaytraceError (const char *)
bool	onSegment (Point p, Point q, Point r)
int	orientation (Point p, Point q, Point r)
double	det (double a, double b, double c, double d)
bool	lineLineIntersect (double x1, double y1, double x2, double y2, double x3, double y3, double x4, double y4, double &ixOut, double &iyOut)
int	findLineCircleIntersections (double cx, double cy, double radius, const Eigen::Vector2d &p1, const Eigen::Vector2d &p2, std::vector< Eigen::Vector2d > &inters)
bool	doIntersect (Point p1, Point q1, Point p2, Point q2, std::vector< Point > &inters)
bool	rayTracePrimitive (std::vector< collision::CollisionObjectConstPtr > collision_objects, const Eigen::Vector2d &point1, const Eigen::Vector2d &point2, std::vector< LineSegment > &intersect, bool remove_overlaps)
bool	rayTracePostprocess (const Eigen::Vector2d &point1, const Eigen::Vector2d &point2, std::vector< Eigen::Vector2d > inters1, std::vector< LineSegment > &intersect, const collision::CollisionObject *obj)
int	rayTraceRemoveOverlaps (std::vector< LineSegment > intersect, std::vector< LineSegment > &out_vec, int axis=0)

Variables
struct collision::raytrace::Vector2dSort_X	vector2dSortX
struct collision::raytrace::Vector2dSort_Y	vector2dSortY
struct collision::raytrace::StartsLineSegmentSort_X	startsSortX
struct collision::raytrace::StartsLineSegmentSort_X_goe	startsSortXgoe
struct collision::raytrace::StartsLineSegmentSort_Y	startsSortY
struct collision::raytrace::StartsLineSegmentSort_Y_goe	startsSortY_goe
struct collision::raytrace::EndsLineSegmentSort_X	endsSortX
struct collision::raytrace::EndsLineSegmentSort_X_goe	endsSortX_goe
struct collision::raytrace::EndsLineSegmentSort_Y	endsSortY
struct collision::raytrace::EndsLineSegmentSort_Y_goe	endsSortY_goe

Function Documentation

det()

double collision::raytrace::det ( double  a, double  b, double  c, double  d  )

inline

Definition at line 92 of file raytrace_primitive.cc.

doIntersect()

bool collision::raytrace::doIntersect	(	Point	p1,
		Point	q1,
		Point	p2,
		Point	q2,
		std::vector< Point > &	inters
	)

Definition at line 132 of file raytrace_primitive.cc.

findLineCircleIntersections()

int collision::raytrace::findLineCircleIntersections	(	double	cx,
		double	cy,
		double	radius,
		const Eigen::Vector2d &	p1,
		const Eigen::Vector2d &	p2,
		std::vector< Eigen::Vector2d > &	inters
	)

Definition at line 21 of file raytrace_primitive.cc.

lineLineIntersect()

bool collision::raytrace::lineLineIntersect	(	double	x1,
		double	y1,
		double	x2,
		double	y2,
		double	x3,
		double	y3,
		double	x4,
		double	y4,
		double &	ixOut,
		double &	iyOut
	)

Definition at line 96 of file raytrace_primitive.cc.

onSegment()

bool collision::raytrace::onSegment	(	Point	p,
		Point	q,
		Point	r
	)

Definition at line 69 of file raytrace_primitive.cc.

orientation()

int collision::raytrace::orientation	(	Point	p,
		Point	q,
		Point	r
	)

Definition at line 82 of file raytrace_primitive.cc.

RaiseRaytraceError()

void collision::raytrace::RaiseRaytraceError

(

const char *

message

)

Definition at line 61 of file raytrace_primitive.cc.

RaytraceDebugOutput()

void collision::raytrace::RaytraceDebugOutput

(

const char *

message

)

Definition at line 55 of file raytrace_primitive.cc.

rayTracePostprocess()

bool collision::raytrace::rayTracePostprocess	(	const Eigen::Vector2d &	point1,
		const Eigen::Vector2d &	point2,
		std::vector< Eigen::Vector2d >	inters1,
		std::vector< LineSegment > &	intersect,
		const collision::CollisionObject *	obj
	)

Definition at line 105 of file raytrace_utils.cc.

rayTracePrimitive()

bool collision::raytrace::rayTracePrimitive	(	std::vector< collision::CollisionObjectConstPtr >	collision_objects,
		const Eigen::Vector2d &	point1,
		const Eigen::Vector2d &	point2,
		std::vector< LineSegment > &	intersect,
		bool	remove_overlaps
	)

Definition at line 75 of file raytrace_utils.cc.

rayTraceRemoveOverlaps()

int collision::raytrace::rayTraceRemoveOverlaps	(	std::vector< LineSegment >	intersect,
		std::vector< LineSegment > &	out_vec,
		int	axis = 0
	)

Definition at line 197 of file raytrace_utils.cc.

Variable Documentation

endsSortX

struct collision::raytrace::EndsLineSegmentSort_X collision::raytrace::endsSortX

endsSortX_goe

struct collision::raytrace::EndsLineSegmentSort_X_goe collision::raytrace::endsSortX_goe

endsSortY

struct collision::raytrace::EndsLineSegmentSort_Y collision::raytrace::endsSortY

endsSortY_goe

struct collision::raytrace::EndsLineSegmentSort_Y_goe collision::raytrace::endsSortY_goe

startsSortX

struct collision::raytrace::StartsLineSegmentSort_X collision::raytrace::startsSortX

startsSortXgoe

struct collision::raytrace::StartsLineSegmentSort_X_goe collision::raytrace::startsSortXgoe

startsSortY

struct collision::raytrace::StartsLineSegmentSort_Y collision::raytrace::startsSortY

startsSortY_goe

struct collision::raytrace::StartsLineSegmentSort_Y_goe collision::raytrace::startsSortY_goe

vector2dSortX

struct collision::raytrace::Vector2dSort_X collision::raytrace::vector2dSortX

vector2dSortY

struct collision::raytrace::Vector2dSort_Y collision::raytrace::vector2dSortY