Geometry.hpp File Reference

Low-level geometry utilities for NavMap cells (triangles), AABB and basic queries such as ray-triangle intersection and closest-point. More...

#include <Eigen/Core>
#include <Eigen/Geometry>
#include <limits>
#include <cmath>
#include <algorithm>

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Classes
struct	AABB
	Axis-aligned bounding box. More...

Namespaces
namespace	navmap

Typedefs
using	Vec3 = Eigen::Vector3f
	3D vector alias used across NavMap geometry.

Functions
Vec3	closest_point_on_triangle (const Vec3 &p, const Vec3 &a, const Vec3 &b, const Vec3 &c)
	Compute the closest point on triangle ABC to point P.
float	point_triangle_squared_distance (const Vec3 &p, const Vec3 &a, const Vec3 &b, const Vec3 &c, Vec3 *closest=nullptr)
	Squared distance between point and triangle, with optional closest pt.
bool	ray_triangle_intersect (const Vec3 &orig, const Vec3 &dir, const Vec3 &v0, const Vec3 &v1, const Vec3 &v2, float &t, float &u, float &v)
	Möller–Trumbore ray–triangle intersection.
float	triangle_area (const Vec3 &a, const Vec3 &b, const Vec3 &c)
	Compute the area of a triangle ABC.
Vec3	triangle_normal (const Vec3 &a, const Vec3 &b, const Vec3 &c)
	Compute a unit normal of triangle ABC.

Detailed Description

Low-level geometry utilities for NavMap cells (triangles), AABB and basic queries such as ray-triangle intersection and closest-point.

This header is intentionally lightweight and header-only to enable aggressive inlining by the compiler. It provides:

• Basic triangle primitives (area, normal).
• Robust Möller–Trumbore ray–triangle intersection.
• AABB with robust ray-box intersection and XY containment helpers.
• Closest point on triangle and point–triangle distance.