klampt/krislibrary_docs/UnboundedPolytope2D_8h_source.html

 #ifndef GEOMETRY_UNBOUNDED_POLYTOPE_H
 #define GEOMETRY_UNBOUNDED_POLYTOPE_H

 #include <KrisLibrary/math3d/geometry2d.h>
 #include "rayprimitives.h"
 #include <vector>

 namespace Geometry {

   using namespace Math3D;

 struct UnboundedPolytope2D
 {
   void CalcPlanes();
   void CalcVertices();
   bool Contains(const Vector2& x) const;
   Real Margin(const Vector2& x) const;
   Real ClosestPoint(const Vector2& x,Vector2& cp) const;

   std::vector<PointRay2D> vertices;

   std::vector<Plane2D> planes;
 };

 } //namespace Geometry

 #endif
rayprimitives.h
Contains primitives that allow rays to be represented as points at infinity.

Geometry::UnboundedPolytope2D::vertices
std::vector< PointRay2D > vertices
Vertex representation of the polygon.
Definition: UnboundedPolytope2D.h:32

Geometry::UnboundedPolytope2D
A representation of a possibly unbounded polytope in the 2d plane.
Definition: UnboundedPolytope2D.h:17

Math3D
Contains all the definitions in the Math3D package.
Definition: AnyGeometry.h:12

Geometry::UnboundedPolytope2D::planes
std::vector< Plane2D > planes
Definition: UnboundedPolytope2D.h:36

Math3D::Vector2
A 2D vector class.
Definition: math3d/primitives.h:41

Geometry
Contains all definitions in the Geometry package.
Definition: AnyGeometry.h:11

Geometry::ClosestPoint
int ClosestPoint(const CollisionMesh &mesh, const Vector3 &p, Vector3 &cp)
Finds the closest point pt to p on m and returns the triangle index. cp is given in the mesh&#39;s local ...
Definition: CollisionMesh.cpp:1304