collision.h File Reference

#include <hpp/fcl/math/vec_3f.h>
#include <hpp/fcl/collision_object.h>
#include <hpp/fcl/collision_data.h>

Include dependency graph for collision.h:

Namespaces
	fcl
	Main namespace.

Functions
std::size_t	fcl::collide (const CollisionObject *o1, const CollisionObject *o2, const CollisionRequest &request, CollisionResult &result)
	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. More...
std::size_t	fcl::collide (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const CollisionRequest &request, CollisionResult &result)