39 #ifndef COAL_COLLISION_H
40 #define COAL_COLLISION_H
88 return o1 == other.
o1 && o2 == other.
o2 && solver == other.
solver;
92 return !(*
this == other);
115 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
The geometry for the object for collision or distance computation.
Definition: collision_object.h:94
the object for collision or distance computation, contains the geometry and the transform information
Definition: collision_object.h:214
This class reduces the cost of identifying the geometry pair. This is mostly useful for repeated shap...
Definition: collision.h:78
virtual ~ComputeCollision()
Definition: collision.h:95
const CollisionGeometry * o1
Definition: collision.h:95
bool operator==(const ComputeCollision &other) const
Definition: collision.h:87
const CollisionGeometry * o2
Definition: collision.h:103
GJKSolver solver
Definition: collision.h:105
ComputeCollision(const CollisionGeometry *o1, const CollisionGeometry *o2)
Default constructor from two Collision Geometries.
virtual std::size_t run(const Transform3s &tf1, const Transform3s &tf2, const CollisionRequest &request, CollisionResult &result) const
bool operator!=(const ComputeCollision &other) const
Definition: collision.h:91
CollisionFunctionMatrix::CollisionFunc func
Definition: collision.h:107
std::size_t operator()(const Transform3s &tf1, const Transform3s &tf2, const CollisionRequest &request, CollisionResult &result) const
bool swap_geoms
Definition: collision.h:108
#define COAL_DLLAPI
Definition: config.hh:88
Main namespace.
Definition: broadphase_bruteforce.h:44
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,...
std::size_t(* CollisionFunc)(const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const GJKSolver *nsolver, const CollisionRequest &request, CollisionResult &result)
the uniform call interface for collision: for collision, we need know
Definition: collision_func_matrix.h:60
request to the collision algorithm
Definition: collision_data.h:311
collision result
Definition: collision_data.h:390
collision and distance solver based on the GJK and EPA algorithms. Originally, GJK and EPA were imple...
Definition: narrowphase.h:57