62 void collide(CollisionTraversalNodeBase* node,
const CollisionRequest& request,
FCL_REAL distance(const Matrix3f &R0, const Vec3f &T0, const kIOS &b1, const kIOS &b2, Vec3f *P=NULL, Vec3f *Q=NULL) HPP_FCL_DLLAPI
Approximate distance between two kIOS bounding volumes.
std::size_t collide(const CollisionObject *o1, const CollisionObject *o2, const CollisionRequest &request, CollisionResult &result) HPP_FCL_DLLAPI
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.