hpp-fcl 1.8.1
HPP fork of FCL -- The Flexible Collision Library
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collision_func_matrix.h
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35
39#ifndef HPP_FCL_COLLISION_FUNC_MATRIX_H
40#define HPP_FCL_COLLISION_FUNC_MATRIX_H
41
42
46
47namespace hpp
48{
49namespace fcl
50{
51
53
55{
61 typedef std::size_t (*CollisionFunc)(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2, const GJKSolver* nsolver, const CollisionRequest& request, CollisionResult& result);
62
64 CollisionFunc collision_matrix[NODE_COUNT][NODE_COUNT];
65
67};
68
69
70
71}
72
73} // namespace hpp
74
75#endif
The geometry for the object for collision or distance computation.
Definition: collision_object.h:67
Simple transform class used locally by InterpMotion.
Definition: transform.h:59
#define HPP_FCL_DLLAPI
Definition: config.hh:64
@ NODE_COUNT
Definition: collision_object.h:59
Main namespace.
Definition: AABB.h:44
collision matrix stores the functions for collision between different types of objects and provides a...
Definition: collision_func_matrix.h:55
request to the collision algorithm
Definition: collision_data.h:210
collision result
Definition: collision_data.h:277
collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the ...
Definition: narrowphase.h:54