Helios++
Helios software for LiDAR simulations
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Class with util functions to work with rays. More...
#include <RayUtils.h>
Static Public Member Functions | |
static glm::dvec3 | obtainPointAfterTraversing (AABB const &aabb, glm::dvec3 const &origin, glm::dvec3 const &direction, double eps=0.00001) |
Obtain the point immediately after finishing traversing given bounding box, with an offset specified as eps (epsilon) More... | |
Class with util functions to work with rays.
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static |
Obtain the point immediately after finishing traversing given bounding box, with an offset specified as eps (epsilon)
\[ p = o + (t + \epsilon) \cdot \hat{v} \]
NOTICE this function assumes intersection occurs. Using this function when this assumption is not satisfied might lead to unexpected behaviors and wrong output
aabb | The axis aligned bounding box being traversed |
origin | The originWaypoint of the ray |
direction | The direction of the ray |
eps | The offset specification. NOTICE if \(\epsilon=0\) then the returned point will be "exactly" the intersection point corresponding to the ray leaving the bounding box |