#include <Math.h>

Static Public Member Functions
template<typename T >
static constexpr T	Clamp (T a, T min=T(0), T max=T(1))

static constexpr auto	Cross (const Vector3D &a, const Vector3D &b)

static auto	Distance (const Vector3D &a, const Vector3D &b)

static auto	Distance2D (const Vector3D &a, const Vector3D &b)

static std::pair< float, float >	DistanceArcToPoint (Vector3D p, Vector3D start_pos, float length, float heading, float curvature)
	Returns a pair containing:

static std::pair< float, float >	DistanceSegmentToPoint (const Vector3D &p, const Vector3D &v, const Vector3D &w)
	Returns a pair containing:

static constexpr auto	DistanceSquared (const Vector3D &a, const Vector3D &b)

static constexpr auto	DistanceSquared2D (const Vector3D &a, const Vector3D &b)

static constexpr auto	Dot (const Vector3D &a, const Vector3D &b)

static constexpr auto	Dot2D (const Vector3D &a, const Vector3D &b)

static std::vector< int >	GenerateRange (int a, int b)

static Vector3D	GetForwardVector (const Rotation &rotation)
	Compute the unit vector pointing towards the X-axis of rotation.

static Vector3D	GetRightVector (const Rotation &rotation)
	Compute the unit vector pointing towards the Y-axis of rotation.

static Vector3D	GetUpVector (const Rotation &rotation)
	Compute the unit vector pointing towards the Y-axis of rotation.

static double	GetVectorAngle (const Vector3D &a, const Vector3D &b)
	Returns the angle between 2 vectors in radians.

static constexpr float	LinearLerp (float a, float b, float f)

template<typename T >
static constexpr T	Pi ()

template<typename T >
static constexpr T	Pi2 ()

static Vector3D	RotatePointOnOrigin2D (Vector3D p, float angle)

template<typename T >
static constexpr T	Square (const T &a)

template<typename T >
static constexpr T	ToDegrees (T rad)

template<typename T >
static constexpr T	ToRadians (T deg)

Detailed Description

Definition at line 21 of file Math.h.

Member Function Documentation

◆ Clamp()

template<typename T >

static constexpr T carla::geom::Math::Clamp	(	T	a,
		T	min = `T(0)`,
		T	max = `T(1)`
	)

inlinestaticconstexpr

Definition at line 49 of file Math.h.

References min().

Referenced by carla::road::MapBuilder::AddSignalReference(), carla::road::MapBuilder::AddStencil(), DistanceSegmentToPoint(), carla::road::Map::GetAllCrosswalkZones(), carla::road::Lane::GetCornerPositions(), carla::road::Road::GetDirectedPointIn(), carla::road::Road::GetDirectedPointInNoLaneOffset(), carla::road::Road::GetLateralShapeZ(), carla::road::element::GeometryLine::PosFromDist(), carla::road::element::GeometryArc::PosFromDist(), and carla::road::element::GeometrySpiral::PosFromDist().

◆ Cross()

static constexpr auto carla::geom::Math::Cross	(	const Vector3D &	a,
		const Vector3D &	b
	)

inlinestaticconstexpr

Definition at line 58 of file Math.h.

References carla::geom::Vector3D::x, carla::geom::Vector3D::y, and carla::geom::Vector3D::z.

◆ Distance()

static auto carla::geom::Math::Distance	(	const Vector3D &	a,
		const Vector3D &	b
	)

inlinestatic

Definition at line 78 of file Math.h.

References DistanceSquared().

Referenced by carla::geom::ComputeVertexWeight(), carla::geom::Location::Distance(), carla::road::Road::GetNearestLane(), and TEST().

◆ Distance2D()

static auto carla::geom::Math::Distance2D	(	const Vector3D &	a,
		const Vector3D &	b
	)

inlinestatic

Definition at line 82 of file Math.h.

References DistanceSquared2D().

Referenced by DistanceArcToPoint(), DistanceSegmentToPoint(), and carla::road::Map::GetWaypoint().

◆ DistanceArcToPoint()

std::pair< float, float > carla::geom::Math::DistanceArcToPoint	(	Vector3D	p,
		Vector3D	start_pos,
		float	length,
		float	heading,
		float	curvature
	)

static

Returns a pair containing:

first: distance across the arc from start_pos to p' where p' = p projected on Arc
second: Euclidean distance from p to p'

Todo:: : Because Unreal's coordinates, hacky way to correct the -y, this must be changed in the future

Definition at line 33 of file Math.cpp.

References DEBUG_ASSERT, Distance2D(), heading, RotatePointOnOrigin2D(), carla::geom::Vector3D::x, and carla::geom::Vector3D::y.

Referenced by carla::road::element::GeometryArc::DistanceTo(), and TEST().

◆ DistanceSegmentToPoint()

std::pair< float, float > carla::geom::Math::DistanceSegmentToPoint	(	const Vector3D &	p,
		const Vector3D &	v,
		const Vector3D &	w
	)

static

Returns a pair containing:

first: distance from v to p' where p' = p projected on segment (w - v)
second: Euclidean distance from p to p'
Parameters

p point to calculate distance

v first point of the segment

w second point of the segment