hpp-fcl 2.4.1
HPP fork of FCL -- The Flexible Collision Library
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collision.h File Reference
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Classes

class  hpp::fcl::ComputeCollision
 This class reduces the cost of identifying the geometry pair. This is mostly useful for repeated shape-shape queries. More...
 

Namespaces

namespace  hpp
 Main namespace.
 
namespace  hpp::fcl
 

Functions

std::size_t hpp::fcl::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. More...
 
std::size_t hpp::fcl::collide (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const CollisionRequest &request, CollisionResult &result)
 
std::size_t hpp::fcl::collide (const CollisionObject *o1, const CollisionObject *o2, CollisionRequest &request, CollisionResult &result)
 
Note
this function update the initial
More...
 
std::size_t hpp::fcl::collide (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, CollisionRequest &request, CollisionResult &result)
 
Note
this function update the initial
More...