37 #ifndef HPP_FCL_SRC_DISTANCE_FUNC_MATRIX_H 38 #define HPP_FCL_SRC_DISTANCE_FUNC_MATRIX_H 49 template<
typename T_SH1,
typename T_SH2>
51 (
const CollisionGeometry* o1,
const Transform3f& tf1,
52 const CollisionGeometry* o2,
const Transform3f& tf2,
53 const GJKSolver* nsolver,
const DistanceRequest& request,
54 DistanceResult& result);
56 template<
typename T_SH1,
typename T_SH2>
58 (
const CollisionGeometry* o1,
const Transform3f& tf1,
59 const CollisionGeometry* o2,
const Transform3f& tf2,
60 const GJKSolver* nsolver,
const CollisionRequest& request,
61 CollisionResult& result);
63 #define SHAPE_SHAPE_DISTANCE_SPECIALIZATION(T1,T2) \ 65 HPP_FCL_DLLAPI FCL_REAL ShapeShapeDistance<T1,T2> \ 66 (const CollisionGeometry* o1, const Transform3f& tf1, \ 67 const CollisionGeometry* o2, const Transform3f& tf2, \ 68 const GJKSolver* nsolver, const DistanceRequest& request, \ 69 DistanceResult& result); \ 71 HPP_FCL_DLLAPI FCL_REAL ShapeShapeDistance<T2,T1> \ 72 (const CollisionGeometry* o1, const Transform3f& tf1, \ 73 const CollisionGeometry* o2, const Transform3f& tf2, \ 74 const GJKSolver* nsolver, const DistanceRequest& request, \ 75 DistanceResult& result) 77 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Box,Halfspace);
78 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Box,Plane);
79 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Box,Sphere);
80 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Capsule,Capsule);
81 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Capsule,Halfspace);
82 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Capsule,Plane);
83 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Cone,Halfspace);
84 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Cone,Plane);
85 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Cylinder,Halfspace);
86 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Cylinder,Plane);
87 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Sphere,Halfspace);
88 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Sphere,Plane);
89 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Sphere,Sphere);
90 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Sphere,Cylinder);
92 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(ConvexBase, Halfspace);
93 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(TriangleP, Halfspace);
95 #undef SHAPE_SHAPE_DISTANCE_SPECIALIZATION 97 #define SHAPE_SHAPE_COLLIDE_SPECIALIZATION(T1,T2) \ 99 HPP_FCL_DLLAPI std::size_t ShapeShapeCollide<T1,T2> \ 100 (const CollisionGeometry* o1, const Transform3f& tf1, \ 101 const CollisionGeometry* o2, const Transform3f& tf2, \ 102 const GJKSolver* nsolver, const CollisionRequest& request, \ 103 CollisionResult& result) 105 SHAPE_SHAPE_COLLIDE_SPECIALIZATION(Sphere,Sphere);
107 #undef SHAPE_SHAPE_COLLIDE_SPECIALIZATION Main namespace.
Definition: AABB.h:43
double FCL_REAL
Definition: data_types.h:66
#define HPP_FCL_DLLAPI
Definition: config.hh:64