39 #ifndef HPP_FCL_COLLISION_H 40 #define HPP_FCL_COLLISION_H 59 const CollisionObject* o2,
60 const CollisionRequest& request,
61 CollisionResult& result);
66 const Transform3f& tf1,
67 const CollisionGeometry* o2,
68 const Transform3f& tf2,
69 const CollisionRequest& request,
70 CollisionResult& result);
122 return o1 == other.
o1 && o2 == other.
o2 && solver == other.
solver;
126 return !(*
this == other);
149 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Main namespace.
Definition: broadphase_bruteforce.h:44
GJKSolver solver
Definition: collision.h:139
virtual ~ComputeCollision()
Definition: collision.h:129
collision result
Definition: collision_data.h:302
bool swap_geoms
Definition: collision.h:142
const CollisionGeometry * o1
Definition: collision.h:129
std::size_t(* CollisionFunc)(const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *nsolver, const CollisionRequest &request, CollisionResult &result)
the uniform call interface for collision: for collision, we need know
Definition: collision_func_matrix.h:61
bool operator!=(const ComputeCollision &other) const
Definition: collision.h:125
request to the collision algorithm
Definition: collision_data.h:235
void updateGuess(const QueryResult &result)
Definition: collision_data.h:210
This class reduces the cost of identifying the geometry pair. This is mostly useful for repeated shap...
Definition: collision.h:103
bool operator==(const ComputeCollision &other) const
Definition: collision.h:121
std::size_t collide(const CollisionObject *o1, const CollisionObject *o2, const CollisionRequest &request, CollisionResult &result)
Main collision interface: given two collision objects, and the requirements for contacts, including num of max contacts, whether perform exhaustive collision (i.e., returning returning all the contact points), whether return detailed contact information (i.e., normal, contact point, depth; otherwise only contact primitive id is returned), this function performs the collision between them. Return value is the number of contacts generated between the two objects.
std::size_t operator()(const Transform3f &tf1, const Transform3f &tf2, CollisionRequest &request, CollisionResult &result) const
Definition: collision.h:112
CollisionFunctionMatrix::CollisionFunc func
Definition: collision.h:141
const CollisionGeometry * o2
Definition: collision.h:137
collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the ...
Definition: narrowphase.h:54
the object for collision or distance computation, contains the geometry and the transform information...
Definition: collision_object.h:215
The geometry for the object for collision or distance computation.
Definition: collision_object.h:95
#define HPP_FCL_DLLAPI
Definition: config.hh:64