coal 3.0.1
Coal, The Collision Detection Library. Previously known as HPP-FCL, fork of FCL -- The Flexible Collision Library
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collision_node.h
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1/*
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35
38#ifndef COAL_COLLISION_NODE_H
39#define COAL_COLLISION_NODE_H
40
42
43#include "coal/BVH/BVH_front.h"
46
50namespace coal {
51
60COAL_DLLAPI void collide(CollisionTraversalNodeBase* node,
61 const CollisionRequest& request,
62 CollisionResult& result,
63 BVHFrontList* front_list = NULL,
64 bool recursive = true);
65
68COAL_DLLAPI void distance(DistanceTraversalNodeBase* node,
69 BVHFrontList* front_list = NULL,
70 unsigned int qsize = 2);
71} // namespace coal
72
74
75#endif
#define COAL_DLLAPI
Definition config.hh:88
Main namespace.
Definition broadphase_bruteforce.h:44
std::list< BVHFrontNode > BVHFrontList
BVH front list is a list of front nodes.
Definition BVH_front.h:66
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,...
Scalar distance(const Matrix3s &R0, const Vec3s &T0, const kIOS &b1, const kIOS &b2, Vec3s *P=NULL, Vec3s *Q=NULL)
Approximate distance between two kIOS bounding volumes.