Triangle Triangle Contact

Determines whether two triangles are touching

This is a translation of the triangle overlap code found in the UNC-CH RAPID package. It has not been overly optimized for Matlab. The triangles are of the form

t1 = [v1x, v1y, v1z;
v2x, v2y, v2z;
v3x, v3y, v3z ]

Here is a snippet of test code

%% test triangle collision code

clf;
hold on;
set(gcf, 'Renderer', 'zbuffer')
t1 = [1,1,1; 1,2,1; 2,2,2];
patch( t1(:,1), t1(:,2), t1(:,3), [0.5,0.5,0.5] )

t2 = [1.5,1.5,1.5; 1.2,3,-1; 0.5,2.4,1.0];
patch( t2(:,1), t2(:,2), t2(:,3), [0.75,0.5,0.5] )

t3 = [2.5,3.5,3.5; 1.2,3,-1; 0.5,2.4,1.0];
patch( t3(:,1), t3(:,2), t3(:,3), [0.5,0.75,0.5] )

t4 = [-1.1,-1,-1; -1,-2,-1; -2,-2,-2];
patch( t4(:,1), t4(:,2), t4(:,3), [0.5,0.5,0.75] )

%%
tic;
result = [triTriContact( t1, t2 ), triTriContact( t1, t3 ), triTriContact( t2, t3 ), triTriContact( t1, t4 ),triTriContact( t2, t4 )]
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