hpp-fcl 2.4.1
HPP fork of FCL -- The Flexible Collision Library
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collision_node.h
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35
38#ifndef HPP_FCL_COLLISION_NODE_H
39#define HPP_FCL_COLLISION_NODE_H
40
42
46
50namespace hpp {
51namespace fcl {
52
61HPP_FCL_DLLAPI void collide(CollisionTraversalNodeBase* node,
62 const CollisionRequest& request,
63 CollisionResult& result,
64 BVHFrontList* front_list = NULL,
65 bool recursive = true);
66
69HPP_FCL_DLLAPI void distance(DistanceTraversalNodeBase* node,
70 BVHFrontList* front_list = NULL,
71 unsigned int qsize = 2);
72} // namespace fcl
73
74} // namespace hpp
75
77
78#endif
#define HPP_FCL_DLLAPI
Definition: config.hh:88
FCL_REAL distance(const Matrix3f &R0, const Vec3f &T0, const kIOS &b1, const kIOS &b2, Vec3f *P=NULL, Vec3f *Q=NULL)
Approximate distance between two kIOS bounding volumes.
std::list< BVHFrontNode > BVHFrontList
BVH front list is a list of front nodes.
Definition: BVH_front.h:67
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,...
Main namespace.
Definition: broadphase_bruteforce.h:44