This namespace contains functions to answer overlap queries. More...

Functions
template<mini::CMatrix TMatrixP, mini::CMatrix TMatrixL, mini::CMatrix TMatrixU>
PBAT_HOST_DEVICE bool	PointAxisAlignedBoundingBox (TMatrixP const &P, TMatrixL const &L, TMatrixU const &U)
	Tests for overlap between point P and axis-aligned bounding box (L,U)

template<mini::CMatrix TMatrixP, mini::CMatrix TMatrixA, mini::CMatrix TMatrixB, mini::CMatrix TMatrixC>
PBAT_HOST_DEVICE bool	PointTriangle (TMatrixP const &P, TMatrixA const &A, TMatrixB const &B, TMatrixC const &C)
	Tests for overlap between point P and triangle ABC.

template<mini::CMatrix TMatrixP, mini::CMatrix TMatrixA, mini::CMatrix TMatrixB, mini::CMatrix TMatrixC, mini::CMatrix TMatrixD>
PBAT_HOST_DEVICE bool	PointTetrahedron3D (TMatrixP const &P, TMatrixA const &A, TMatrixB const &B, TMatrixC const &C, TMatrixD const &D)
	Checks if point P is contained in tetrahedron ABCD, in at least 3D.

template<mini::CMatrix TMatrixC1, mini::CMatrix TMatrixC2>
PBAT_HOST_DEVICE bool	Spheres (TMatrixC1 const &C1, typename TMatrixC1::ScalarType R1, TMatrixC2 const &C2, typename TMatrixC2::ScalarType R2)
	Tests for overlap between sphere (C1,R1) and sphere (C2,R2).

template<mini::CMatrix TMatrixL1, mini::CMatrix TMatrixU1, mini::CMatrix TMatrixL2, mini::CMatrix TMatrixU2>
PBAT_HOST_DEVICE bool	AxisAlignedBoundingBoxes (TMatrixL1 const &L1, TMatrixU1 const &U1, TMatrixL2 const &L2, TMatrixU2 const &U2)
	Tests for overlap between axis-aligned bounding box (L1,U1) and axis-aligned bounding box (L2,U2)

template<mini::CMatrix TMatrixC, mini::CMatrix TMatrixL, mini::CMatrix TMatrixU>
PBAT_HOST_DEVICE bool	SphereAxisAlignedBoundingBox (TMatrixC const &C, typename TMatrixC::ScalarType R, TMatrixL const &L, TMatrixU const &U)
	Tests for overlap between sphere (c,r) and axis-aligned bounding box (low,up)

template<mini::CMatrix TMatrixP, mini::CMatrix TMatrixQ, mini::CMatrix TMatrixC>
PBAT_HOST_DEVICE bool	LineSegmentSphere (TMatrixP const &P, TMatrixQ const &Q, TMatrixC const &C, typename TMatrixC::ScalarType R)
	Tests for overlap between line segment PQ and sphere (C,R)

template<mini::CMatrix TMatrixP, mini::CMatrix TMatrixQ, mini::CMatrix TMatrixL, mini::CMatrix TMatrixU>
PBAT_HOST_DEVICE bool	LineSegmentAxisAlignedBoundingBox (TMatrixP const &P, TMatrixQ const &Q, TMatrixL const &L, TMatrixU const &U)
	Tests for overlap between line segment PQ and axis-aligned bounding box (L,U)

template<mini::CMatrix TMatrixP, mini::CMatrix TMatrixQ, mini::CMatrix TMatrixA, mini::CMatrix TMatrixB, mini::CMatrix TMatrixC>
PBAT_HOST_DEVICE bool	LineSegmentTriangle3D (TMatrixP const &P, TMatrixQ const &Q, TMatrixA const &A, TMatrixB const &B, TMatrixC const &C)
	Detects if the line segment PQ passes through the triangle ABC, in 3D.

template<mini::CMatrix TMatrixP, mini::CMatrix TMatrixQ, mini::CMatrix TMatrixA1, mini::CMatrix TMatrixB1, mini::CMatrix TMatrixC1, mini::CMatrix TMatrixA2, mini::CMatrix TMatrixB2, mini::CMatrix TMatrixC2>
PBAT_HOST_DEVICE bool	LineSegmentSweptTriangle3D (TMatrixP const &P, TMatrixQ const &Q, TMatrixA1 const &A1, TMatrixB1 const &B1, TMatrixC1 const &C1, TMatrixA2 const &A2, TMatrixB2 const &B2, TMatrixC2 const &C2)
	Tests overlap between line segment PQ and the swept volume spanned by linear interpolation of A1B1C1 to A2B2C2.

template<mini::CMatrix TMatrixP, mini::CMatrix TMatrixN, mini::CMatrix TMatrixL, mini::CMatrix TMatrixU>
PBAT_HOST_DEVICE bool	PlaneAxisAlignedBoundingBox (TMatrixP const &P, TMatrixN const &n, TMatrixL const &L, TMatrixU const &U)
	Tests for overlap between plane (P,n) and axis-aligned bounding box (low,up)

template<mini::CMatrix TMatrixA, mini::CMatrix TMatrixB, mini::CMatrix TMatrixC, mini::CMatrix TMatrixL, mini::CMatrix TMatrixU>
PBAT_HOST_DEVICE bool	TriangleAxisAlignedBoundingBox (TMatrixA const &A, TMatrixB const &B, TMatrixC const &C, TMatrixL const &L, TMatrixU const &U)
	Tests for overlap between triangle ABC and axis-aligned bounding box (low,up)

template<mini::CMatrix TMatrixA, mini::CMatrix TMatrixB, mini::CMatrix TMatrixC, mini::CMatrix TMatrixD, mini::CMatrix TMatrixL, mini::CMatrix TMatrixU>
PBAT_HOST_DEVICE bool	TetrahedronAxisAlignedBoundingBox (TMatrixA const &A, TMatrixB const &B, TMatrixC const &C, TMatrixD const &D, TMatrixL const &L, TMatrixU const &U)
	Tests for overlap between tetrahedron ABCD and axis-aligned bounding box (L,U), in at least 3D.

template<mini::CMatrix TMatrixA1, mini::CMatrix TMatrixB1, mini::CMatrix TMatrixC1, mini::CMatrix TMatrixA2, mini::CMatrix TMatrixB2, mini::CMatrix TMatrixC2>
PBAT_HOST_DEVICE bool	Triangles2D (TMatrixA1 const &A1, TMatrixB1 const &B1, TMatrixC1 const &C1, TMatrixA2 const &A2, TMatrixB2 const &B2, TMatrixC2 const &C2)
	Tests for overlap between triangle A1B1C1 and triangle A2B2C2, in 2D.

template<mini::CMatrix TMatrixA1, mini::CMatrix TMatrixB1, mini::CMatrix TMatrixC1, mini::CMatrix TMatrixA2, mini::CMatrix TMatrixB2, mini::CMatrix TMatrixC2>
PBAT_HOST_DEVICE bool	Triangles3D (TMatrixA1 const &A1, TMatrixB1 const &B1, TMatrixC1 const &C1, TMatrixA2 const &A2, TMatrixB2 const &B2, TMatrixC2 const &C2)
	Tests for overlap between triangle A1B1C1 and triangle A2B2C2, in 3D.

template<mini::CMatrix TMatrixA, mini::CMatrix TMatrixB, mini::CMatrix TMatrixC, mini::CMatrix TMatrixI, mini::CMatrix TMatrixJ, mini::CMatrix TMatrixK, mini::CMatrix TMatrixL>
PBAT_HOST_DEVICE bool	TriangleTetrahedron (TMatrixA const &A, TMatrixB const &B, TMatrixC const &C, TMatrixI const &I, TMatrixJ const &J, TMatrixK const &K, TMatrixL const &L)
	Tests for overlap between triangle ABC and tetrahedron IJKL, in at least 3D.

template<mini::CMatrix TMatrixA1, mini::CMatrix TMatrixB1, mini::CMatrix TMatrixC1, mini::CMatrix TMatrixD1, mini::CMatrix TMatrixA2, mini::CMatrix TMatrixB2, mini::CMatrix TMatrixC2, mini::CMatrix TMatrixD2>
PBAT_HOST_DEVICE bool	Tetrahedra (TMatrixA1 const &A1, TMatrixB1 const &B1, TMatrixC1 const &C1, TMatrixD1 const &D1, TMatrixA2 const &A2, TMatrixB2 const &B2, TMatrixC2 const &C2, TMatrixD2 const &D2)
	Tests for overlap between tetrahedron A1B1C1D1 and tetrahedron A2B2C2D2, in at least 3D.

template<mini::CMatrix TMatrixA, mini::CMatrix TMatrixB, mini::CMatrix TMatrixC, mini::CMatrix TMatrixSC>
PBAT_HOST_DEVICE bool	TriangleSphere (TMatrixA const &A, TMatrixB const &B, TMatrixC const &C, TMatrixSC const &SC, typename TMatrixSC::ScalarType R)
	Tests for overlap between a triangle ABC and a sphere with center SC of radius R.

template<mini::CMatrix TMatrixA, mini::CMatrix TMatrixB, mini::CMatrix TMatrixC, mini::CMatrix TMatrixD, mini::CMatrix TMatrixSC>
PBAT_HOST_DEVICE bool	TetrahedronSphere (TMatrixA const &A, TMatrixB const &B, TMatrixC const &C, TMatrixD const &D, TMatrixSC const &SC, typename TMatrixSC::ScalarType R)
	Tests for overlap between a tetrahedron ABCD and a sphere with center SC of radius R.

Detailed Description

This namespace contains functions to answer overlap queries.

Function Documentation

◆ AxisAlignedBoundingBoxes()

template<mini::CMatrix TMatrixL1, mini::CMatrix TMatrixU1, mini::CMatrix TMatrixL2, mini::CMatrix TMatrixU2>

PBAT_HOST_DEVICE bool pbat::geometry::OverlapQueries::AxisAlignedBoundingBoxes	(	TMatrixL1 const &	L1,
		TMatrixU1 const &	U1,
		TMatrixL2 const &	L2,
		TMatrixU2 const &	U2 )

Tests for overlap between axis-aligned bounding box (L1,U1) and axis-aligned bounding box (L2,U2)

Template Parameters

TMatrixL1	Matrix type of the lower bound of AABB 1
TMatrixU1	Matrix type of the upper bound of AABB 1
TMatrixL2	Matrix type of the lower bound of AABB 2
TMatrixU2	Matrix type of the upper bound of AABB 2

Parameters

L1	The lower bound of AABB 1
U1	The upper bound of AABB 1
L2	The lower bound of AABB 2
U2	The upper bound of AABB 2

Returns: True if the AABBs overlap, false otherwise

◆ LineSegmentAxisAlignedBoundingBox()

template<mini::CMatrix TMatrixP, mini::CMatrix TMatrixQ, mini::CMatrix TMatrixL, mini::CMatrix TMatrixU>

PBAT_HOST_DEVICE bool pbat::geometry::OverlapQueries::LineSegmentAxisAlignedBoundingBox	(	TMatrixP const &	P,
		TMatrixQ const &	Q,
		TMatrixL const &	L,
		TMatrixU const &	U )

Tests for overlap between line segment PQ and axis-aligned bounding box (L,U)

Template Parameters

TMatrixP	Start point matrix type
TMatrixQ	End point matrix type
TMatrixL	Lower corner matrix type
TMatrixU	Upper corner matrix type

Parameters

P	Start point of the line segment
Q	End point of the line segment
L	Lower corner of the box
U	Upper corner of the box

Returns: True if the line segment and box overlap, false otherwise

◆ LineSegmentSphere()

template<mini::CMatrix TMatrixP, mini::CMatrix TMatrixQ, mini::CMatrix TMatrixC>

PBAT_HOST_DEVICE bool pbat::geometry::OverlapQueries::LineSegmentSphere	(	TMatrixP const &	P,
		TMatrixQ const &	Q,
		TMatrixC const &	C,
		typename TMatrixC::ScalarType	R )

Tests for overlap between line segment PQ and sphere (C,R)

Template Parameters

TMatrixP	Start point matrix type
TMatrixQ	End point matrix type
TMatrixC	Center matrix type

Parameters

P	Start point of the line segment
Q	End point of the line segment
C	Center of the sphere
R	Radius of the sphere

Returns: True if the line segment and sphere overlap, false otherwise

◆ LineSegmentSweptTriangle3D()

template<mini::CMatrix TMatrixP, mini::CMatrix TMatrixQ, mini::CMatrix TMatrixA1, mini::CMatrix TMatrixB1, mini::CMatrix TMatrixC1, mini::CMatrix TMatrixA2, mini::CMatrix TMatrixB2, mini::CMatrix TMatrixC2>

PBAT_HOST_DEVICE bool pbat::geometry::OverlapQueries::LineSegmentSweptTriangle3D	(	TMatrixP const &	P,
		TMatrixQ const &	Q,
		TMatrixA1 const &	A1,
		TMatrixB1 const &	B1,
		TMatrixC1 const &	C1,
		TMatrixA2 const &	A2,
		TMatrixB2 const &	B2,
		TMatrixC2 const &	C2 )

Tests overlap between line segment PQ and the swept volume spanned by linear interpolation of A1B1C1 to A2B2C2.

Warning: This function does not handle degeneracies yet. I don't suggest using it for now.

Template Parameters

TMatrixP	Start point matrix type
TMatrixQ	End point matrix type
TMatrixA1	Matrix type of the vertex A1 of triangle 1
TMatrixB1	Matrix type of the vertex B1 of triangle 1
TMatrixC1	Matrix type of the vertex C1 of triangle 1
TMatrixA2	Matrix type of the vertex A2 of triangle 2
TMatrixB2	Matrix type of the vertex B2 of triangle 2
TMatrixC2	Matrix type of the vertex C2 of triangle 2

Parameters

P	Start point of the line segment
Q	End point of the line segment
A1	Vertex A of triangle 1
B1	Vertex B of triangle 1
C1	Vertex C of triangle 1
A2	Vertex A of triangle 2
B2	Vertex B of triangle 2
C2	Vertex C of triangle 2

Returns: True if the line segment passes through the swept volume, false otherwise

◆ LineSegmentTriangle3D()

template<mini::CMatrix TMatrixP, mini::CMatrix TMatrixQ, mini::CMatrix TMatrixA, mini::CMatrix TMatrixB, mini::CMatrix TMatrixC>

PBAT_HOST_DEVICE bool pbat::geometry::OverlapQueries::LineSegmentTriangle3D	(	TMatrixP const &	P,
		TMatrixQ const &	Q,
		TMatrixA const &	A,
		TMatrixB const &	B,
		TMatrixC const &	C )

Detects if the line segment PQ passes through the triangle ABC, in 3D.

Template Parameters

TMatrixP	Matrix type of the start point of the line segment
TMatrixQ	Matrix type of the end point of the line segment
TMatrixA	Matrix type of the vertex A of the triangle
TMatrixB	Matrix type of the vertex B of the triangle
TMatrixC	Matrix type of the vertex C of the triangle

Parameters

P	Start point of the line segment
Q	End point of the line segment
A	Vertex A of the triangle
B	Vertex B of the triangle
C	Vertex C of the triangle

Returns: True if the line segment passes through the triangle, false otherwise

◆ PlaneAxisAlignedBoundingBox()

template<mini::CMatrix TMatrixP, mini::CMatrix TMatrixN, mini::CMatrix TMatrixL, mini::CMatrix TMatrixU>

PBAT_HOST_DEVICE bool pbat::geometry::OverlapQueries::PlaneAxisAlignedBoundingBox	(	TMatrixP const &	P,
		TMatrixN const &	n,
		TMatrixL const &	L,
		TMatrixU const &	U )

Tests for overlap between plane (P,n) and axis-aligned bounding box (low,up)

Template Parameters

TMatrixP	Point on the plane matrix type
TMatrixN	Normal of the plane matrix type
TMatrixL	Lower corner matrix type
TMatrixU	Upper corner matrix type

Parameters

P	Point on the plane
n	Normal of the plane
L	Lower corner of the box
U	Upper corner of the box

Returns: True if the plane and box overlap, false otherwise

◆ PointAxisAlignedBoundingBox()

template<mini::CMatrix TMatrixP, mini::CMatrix TMatrixL, mini::CMatrix TMatrixU>

PBAT_HOST_DEVICE bool pbat::geometry::OverlapQueries::PointAxisAlignedBoundingBox	(	TMatrixP const &	P,
		TMatrixL const &	L,
		TMatrixU const &	U )

Tests for overlap between point P and axis-aligned bounding box (L,U)

Template Parameters

TMatrixP	Point matrix type
TMatrixL	Lower corner matrix type
TMatrixU	Upper corner matrix type

Parameters

P	Point
L	Lower corner of the box
U	Upper corner of the box

Returns: True if P is inside the box, false otherwise

◆ PointTetrahedron3D()

template<mini::CMatrix TMatrixP, mini::CMatrix TMatrixA, mini::CMatrix TMatrixB, mini::CMatrix TMatrixC, mini::CMatrix TMatrixD>

PBAT_HOST_DEVICE bool pbat::geometry::OverlapQueries::PointTetrahedron3D	(	TMatrixP const &	P,
		TMatrixA const &	A,
		TMatrixB const &	B,
		TMatrixC const &	C,
		TMatrixD const &	D )

Checks if point P is contained in tetrahedron ABCD, in at least 3D.

Template Parameters

TMatrixP	Point matrix type
TMatrixA	Vertex A matrix type
TMatrixB	Vertex B matrix type
TMatrixC	Vertex C matrix type
TMatrixD	Vertex D matrix type

Parameters

P	Point
A	Vertex A of the tetrahedron
B	Vertex B of the tetrahedron
C	Vertex C of the tetrahedron
D	Vertex D of the tetrahedron

Returns: True if P is inside the tetrahedron, false otherwise

◆ PointTriangle()

template<mini::CMatrix TMatrixP, mini::CMatrix TMatrixA, mini::CMatrix TMatrixB, mini::CMatrix TMatrixC>

PBAT_HOST_DEVICE bool pbat::geometry::OverlapQueries::PointTriangle	(	TMatrixP const &	P,
		TMatrixA const &	A,
		TMatrixB const &	B,
		TMatrixC const &	C )

Tests for overlap between point P and triangle ABC.

Template Parameters

TMatrixP	Point matrix type
TMatrixA	Vertex A matrix type
TMatrixB	Vertex B matrix type
TMatrixC	Vertex C matrix type

Parameters

P	Point
A	Vertex A of the triangle
B	Vertex B of the triangle
C	Vertex C of the triangle

Returns: True if P is inside the triangle, false otherwise

◆ SphereAxisAlignedBoundingBox()

template<mini::CMatrix TMatrixC, mini::CMatrix TMatrixL, mini::CMatrix TMatrixU>

PBAT_HOST_DEVICE bool pbat::geometry::OverlapQueries::SphereAxisAlignedBoundingBox	(	TMatrixC const &	C,
		typename TMatrixC::ScalarType	R,
		TMatrixL const &	L,
		TMatrixU const &	U )

Tests for overlap between sphere (c,r) and axis-aligned bounding box (low,up)

Template Parameters

TMatrixC	Center matrix type of the sphere
TMatrixL	Lower corner matrix type of the box
TMatrixU	Upper corner matrix type of the box

Parameters

C	Center of the sphere
R	Radius of the sphere
L	Lower corner of the box
U	Upper corner of the box

Returns: True if the sphere and box overlap, false otherwise

◆ Spheres()

template<mini::CMatrix TMatrixC1, mini::CMatrix TMatrixC2>

PBAT_HOST_DEVICE bool pbat::geometry::OverlapQueries::Spheres	(	TMatrixC1 const &	C1,
		typename TMatrixC1::ScalarType	R1,
		TMatrixC2 const &	C2,
		typename TMatrixC2::ScalarType	R2 )

Tests for overlap between sphere (C1,R1) and sphere (C2,R2).

Template Parameters

TMatrixC1	Center matrix type of the first sphere
TMatrixC2	Center matrix type of the second sphere

Parameters

C1	Center of the first sphere
R1	Radius of the first sphere
C2	Center of the second sphere
R2	Radius of the second sphere

Returns: True if the spheres overlap, false otherwise

◆ Tetrahedra()

template<mini::CMatrix TMatrixA1, mini::CMatrix TMatrixB1, mini::CMatrix TMatrixC1, mini::CMatrix TMatrixD1, mini::CMatrix TMatrixA2, mini::CMatrix TMatrixB2, mini::CMatrix TMatrixC2, mini::CMatrix TMatrixD2>

PBAT_HOST_DEVICE bool pbat::geometry::OverlapQueries::Tetrahedra	(	TMatrixA1 const &	A1,
		TMatrixB1 const &	B1,
		TMatrixC1 const &	C1,
		TMatrixD1 const &	D1,
		TMatrixA2 const &	A2,
		TMatrixB2 const &	B2,
		TMatrixC2 const &	C2,
		TMatrixD2 const &	D2 )

Tests for overlap between tetrahedron A1B1C1D1 and tetrahedron A2B2C2D2, in at least 3D.

Template Parameters

TMatrixA1	Matrix type of vertex A1 of tetrahedron 1
TMatrixB1	Matrix type of vertex B1 of tetrahedron 1
TMatrixC1	Matrix type of vertex C1 of tetrahedron 1
TMatrixD1	Matrix type of vertex D1 of tetrahedron 1
TMatrixA2	Matrix type of vertex A2 of tetrahedron 2
TMatrixB2	Matrix type of vertex B2 of tetrahedron 2
TMatrixC2	Matrix type of vertex C2 of tetrahedron 2
TMatrixD2	Matrix type of vertex D2 of tetrahedron 2

Parameters

A1	Vertex A of tetrahedron 1
B1	Vertex B of tetrahedron 1
C1	Vertex C of tetrahedron 1
D1	Vertex D of tetrahedron 1
A2	Vertex A of tetrahedron 2
B2	Vertex B of tetrahedron 2
C2	Vertex C of tetrahedron 2
D2	Vertex D of tetrahedron 2

Returns: True if the tetrahedra overlap, false otherwise

◆ TetrahedronAxisAlignedBoundingBox()

template<mini::CMatrix TMatrixA, mini::CMatrix TMatrixB, mini::CMatrix TMatrixC, mini::CMatrix TMatrixD, mini::CMatrix TMatrixL, mini::CMatrix TMatrixU>

PBAT_HOST_DEVICE bool pbat::geometry::OverlapQueries::TetrahedronAxisAlignedBoundingBox	(	TMatrixA const &	A,
		TMatrixB const &	B,
		TMatrixC const &	C,
		TMatrixD const &	D,
		TMatrixL const &	L,
		TMatrixU const &	U )

Tests for overlap between tetrahedron ABCD and axis-aligned bounding box (L,U), in at least 3D.

Template Parameters

TMatrixA	Vertex A matrix type
TMatrixB	Vertex B matrix type
TMatrixC	Vertex C matrix type
TMatrixD	Vertex D matrix type
TMatrixL	Lower corner matrix type
TMatrixU	Upper corner matrix type

Parameters

A	Vertex A of the tetrahedron
B	Vertex B of the tetrahedron
C	Vertex C of the tetrahedron
D	Vertex D of the tetrahedron
L	Lower corner of the box
U	Upper corner of the box

Returns: True if the tetrahedron and box overlap, false otherwise

Our implementation is super inefficient for AABBs, because of all the known zeros that we are not exploiting. Because AABBs are axis aligned, their edges have many zeros, and cross product and dot product operations with these edges could save many floating point operations, but we don't do it... Fortunately, this implementation is valid for OBBs.

◆ TetrahedronSphere()

template<mini::CMatrix TMatrixA, mini::CMatrix TMatrixB, mini::CMatrix TMatrixC, mini::CMatrix TMatrixD, mini::CMatrix TMatrixSC>

PBAT_HOST_DEVICE bool pbat::geometry::OverlapQueries::TetrahedronSphere	(	TMatrixA const &	A,
		TMatrixB const &	B,
		TMatrixC const &	C,
		TMatrixD const &	D,
		TMatrixSC const &	SC,
		typename TMatrixSC::ScalarType	R )

Tests for overlap between a tetrahedron ABCD and a sphere with center SC of radius R.

Template Parameters

TMatrixA	Vertex A matrix type
TMatrixB	Vertex B matrix type
TMatrixC	Vertex C matrix type
TMatrixD	Vertex D matrix type
TMatrixSC	Center matrix type of the sphere

Parameters

A	Vertex A of the tetrahedron
B	Vertex B of the tetrahedron
C	Vertex C of the tetrahedron
D	Vertex D of the tetrahedron
SC	Center of the sphere
R	Radius of the sphere

Returns: True if the tetrahedron and sphere overlap, false otherwise

◆ TriangleAxisAlignedBoundingBox()

template<mini::CMatrix TMatrixA, mini::CMatrix TMatrixB, mini::CMatrix TMatrixC, mini::CMatrix TMatrixL, mini::CMatrix TMatrixU>

PBAT_HOST_DEVICE bool pbat::geometry::OverlapQueries::TriangleAxisAlignedBoundingBox	(	TMatrixA const &	A,
		TMatrixB const &	B,
		TMatrixC const &	C,
		TMatrixL const &	L,
		TMatrixU const &	U )

Tests for overlap between triangle ABC and axis-aligned bounding box (low,up)

Template Parameters

TMatrixA	Vertex A matrix type
TMatrixB	Vertex B matrix type
TMatrixC	Vertex C matrix type
TMatrixL	Lower corner matrix type
TMatrixU	Upper corner matrix type

Parameters

A	Vertex A of the triangle
B	Vertex B of the triangle
C	Vertex C of the triangle
L	Lower corner of the box
U	Upper corner of the box

Returns: True if the triangle and box overlap, false otherwise

See [5] section 5.2.9

Our implementation is super inefficient for AABBs, because of all the known zeros that we are not exploiting. Because AABBs are axis aligned, their edges have many zeros, and cross product and dot product operations with these edges could save many floating point operations, but we don't do it... Fortunately, this implementation is valid for OBBs.

◆ Triangles2D()

template<mini::CMatrix TMatrixA1, mini::CMatrix TMatrixB1, mini::CMatrix TMatrixC1, mini::CMatrix TMatrixA2, mini::CMatrix TMatrixB2, mini::CMatrix TMatrixC2>

PBAT_HOST_DEVICE bool pbat::geometry::OverlapQueries::Triangles2D	(	TMatrixA1 const &	A1,
		TMatrixB1 const &	B1,
		TMatrixC1 const &	C1,
		TMatrixA2 const &	A2,
		TMatrixB2 const &	B2,
		TMatrixC2 const &	C2 )

Tests for overlap between triangle A1B1C1 and triangle A2B2C2, in 2D.

Template Parameters

TMatrixA1	Matrix type of vertex A1 of triangle 1
TMatrixB1	Matrix type of vertex B1 of triangle 1
TMatrixC1	Matrix type of vertex C1 of triangle 1
TMatrixA2	Matrix type of vertex A2 of triangle 2
TMatrixB2	Matrix type of vertex B2 of triangle 2
TMatrixC2	Matrix type of vertex C2 of triangle 2

Parameters

A1	Vertex A of triangle 1
B1	Vertex B of triangle 1
C1	Vertex C of triangle 1
A2	Vertex A of triangle 2
B2	Vertex B of triangle 2
C2	Vertex C of triangle 2

Returns: True if the triangles overlap, false otherwise

◆ Triangles3D()

template<mini::CMatrix TMatrixA1, mini::CMatrix TMatrixB1, mini::CMatrix TMatrixC1, mini::CMatrix TMatrixA2, mini::CMatrix TMatrixB2, mini::CMatrix TMatrixC2>

PBAT_HOST_DEVICE bool pbat::geometry::OverlapQueries::Triangles3D	(	TMatrixA1 const &	A1,
		TMatrixB1 const &	B1,
		TMatrixC1 const &	C1,
		TMatrixA2 const &	A2,
		TMatrixB2 const &	B2,
		TMatrixC2 const &	C2 )

Tests for overlap between triangle A1B1C1 and triangle A2B2C2, in 3D.

Template Parameters

TMatrixA1	Matrix type of vertex A1 of triangle 1
TMatrixB1	Matrix type of vertex B1 of triangle 1
TMatrixC1	Matrix type of vertex C1 of triangle 1
TMatrixA2	Matrix type of vertex A2 of triangle 2
TMatrixB2	Matrix type of vertex B2 of triangle 2
TMatrixC2	Matrix type of vertex C2 of triangle 2

Parameters

A1	Vertex A of triangle 1
B1	Vertex B of triangle 1
C1	Vertex C of triangle 1
A2	Vertex A of triangle 2
B2	Vertex B of triangle 2
C2	Vertex C of triangle 2

Returns: True if the triangles overlap, false otherwise

◆ TriangleSphere()

template<mini::CMatrix TMatrixA, mini::CMatrix TMatrixB, mini::CMatrix TMatrixC, mini::CMatrix TMatrixSC>

PBAT_HOST_DEVICE bool pbat::geometry::OverlapQueries::TriangleSphere	(	TMatrixA const &	A,
		TMatrixB const &	B,
		TMatrixC const &	C,
		TMatrixSC const &	SC,
		typename TMatrixSC::ScalarType	R )

Tests for overlap between a triangle ABC and a sphere with center SC of radius R.

Template Parameters

TMatrixA	Vertex A matrix type
TMatrixB	Vertex B matrix type
TMatrixC	Vertex C matrix type
TMatrixSC	Center matrix type of the sphere

Parameters

A	Vertex A of the triangle
B	Vertex B of the triangle
C	Vertex C of the triangle
SC	Center of the sphere
R	Radius of the sphere

Returns: True if the triangle and sphere overlap, false otherwise

◆ TriangleTetrahedron()

template<mini::CMatrix TMatrixA, mini::CMatrix TMatrixB, mini::CMatrix TMatrixC, mini::CMatrix TMatrixI, mini::CMatrix TMatrixJ, mini::CMatrix TMatrixK, mini::CMatrix TMatrixL>

PBAT_HOST_DEVICE bool pbat::geometry::OverlapQueries::TriangleTetrahedron	(	TMatrixA const &	A,
		TMatrixB const &	B,
		TMatrixC const &	C,
		TMatrixI const &	I,
		TMatrixJ const &	J,
		TMatrixK const &	K,
		TMatrixL const &	L )

Tests for overlap between triangle ABC and tetrahedron IJKL, in at least 3D.

Template Parameters

TMatrixA	Matrix type of vertex A of the triangle
TMatrixB	Matrix type of vertex B of the triangle
TMatrixC	Matrix type of vertex C of the triangle
TMatrixI	Matrix type of vertex I of the tetrahedron
TMatrixJ	Matrix type of vertex J of the tetrahedron
TMatrixK	Matrix type of vertex K of the tetrahedron
TMatrixL	Matrix type of vertex L of the tetrahedron

Parameters

A	Vertex A of the triangle
B	Vertex B of the triangle
C	Vertex C of the triangle
I	Vertex I of the tetrahedron
J	Vertex J of the tetrahedron
K	Vertex K of the tetrahedron
L	Vertex L of the tetrahedron

Returns: True if the triangle and tetrahedron overlap, false otherwise

Functions

Detailed Description

Function Documentation

◆ AxisAlignedBoundingBoxes()

◆ LineSegmentAxisAlignedBoundingBox()

◆ LineSegmentSphere()

◆ LineSegmentSweptTriangle3D()

◆ LineSegmentTriangle3D()

◆ PlaneAxisAlignedBoundingBox()

◆ PointAxisAlignedBoundingBox()

◆ PointTetrahedron3D()

◆ PointTriangle()

◆ SphereAxisAlignedBoundingBox()

◆ Spheres()

◆ Tetrahedra()

◆ TetrahedronAxisAlignedBoundingBox()

◆ TetrahedronSphere()

◆ TriangleAxisAlignedBoundingBox()

◆ Triangles2D()

◆ Triangles3D()

◆ TriangleSphere()

◆ TriangleTetrahedron()