hpp-fcl 2.4.4
HPP fork of FCL -- The Flexible Collision Library
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collision_func_matrix.h
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35
38#ifndef HPP_FCL_COLLISION_FUNC_MATRIX_H
39#define HPP_FCL_COLLISION_FUNC_MATRIX_H
40
44
45namespace hpp {
46namespace fcl {
47
50
61 typedef std::size_t (*CollisionFunc)(const CollisionGeometry* o1,
62 const Transform3f& tf1,
63 const CollisionGeometry* o2,
64 const Transform3f& tf2,
65 const GJKSolver* nsolver,
66 const CollisionRequest& request,
67 CollisionResult& result);
68
71 CollisionFunc collision_matrix[NODE_COUNT][NODE_COUNT];
72
74};
75
76} // namespace fcl
77
78} // namespace hpp
79
80#endif
The geometry for the object for collision or distance computation.
Definition: collision_object.h:95
Simple transform class used locally by InterpMotion.
Definition: transform.h:54
#define HPP_FCL_DLLAPI
Definition: config.hh:88
@ NODE_COUNT
Definition: collision_object.h:88
Main namespace.
Definition: broadphase_bruteforce.h:44
collision matrix stores the functions for collision between different types of objects and provides a...
Definition: collision_func_matrix.h:51
request to the collision algorithm
Definition: collision_data.h:235
collision result
Definition: collision_data.h:302
collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the ...
Definition: narrowphase.h:54