OBB.h

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 *  Author: Florent Lamiraux
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#ifndef COAL_SRC_OBB_H
#define COAL_SRC_OBB_H
 
namespace coal {
 
bool obbDisjointAndLowerBoundDistance(const Matrix3s& B, const Vec3s& T,
                                      const Vec3s& a, const Vec3s& b,
                                      const CollisionRequest& request,
                                      CoalScalar& squaredLowerBoundDistance);
 
bool obbDisjoint(const Matrix3s& B, const Vec3s& T, const Vec3s& a,
                 const Vec3s& b);
}  // namespace coal
 
#endif  // COAL_SRC_OBB_H