hpp-fcl  1.4.4
HPP fork of FCL -- The Flexible Collision Library
collision_func_matrix.h
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35 
39 #ifndef HPP_FCL_COLLISION_FUNC_MATRIX_H
40 #define HPP_FCL_COLLISION_FUNC_MATRIX_H
41 
42 
44 #include <hpp/fcl/collision_data.h>
46 
47 namespace hpp
48 {
49 namespace fcl
50 {
51 
53 
55 {
61  typedef std::size_t (*CollisionFunc)(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2, const GJKSolver* nsolver, const CollisionRequest& request, CollisionResult& result);
62 
65 
67 };
68 
69 
70 
71 }
72 
73 } // namespace hpp
74 
75 #endif
Simple transform class used locally by InterpMotion.
Definition: transform.h:59
Main namespace.
Definition: AABB.h:43
CollisionFunc collision_matrix[NODE_COUNT][NODE_COUNT]
each item in the collision matrix is a function to handle collision between objects of type1 and type...
Definition: collision_func_matrix.h:64
collision result
Definition: collision_data.h:209
std::size_t(* CollisionFunc)(const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &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:61
request to the collision algorithm
Definition: collision_data.h:150
Definition: collision_object.h:57
collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the ...
Definition: narrowphase.h:53
The geometry for the object for collision or distance computation.
Definition: collision_object.h:63
collision matrix stores the functions for collision between different types of objects and provides a...
Definition: collision_func_matrix.h:54