hpp-fcl  1.4.4
HPP fork of FCL -- The Flexible Collision Library
collision_node.h
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35 
38 #ifndef HPP_FCL_COLLISION_NODE_H
39 #define HPP_FCL_COLLISION_NODE_H
40 
42 
43 #include <hpp/fcl/BVH/BVH_front.h>
44 #include <hpp/fcl/internal/traversal_node_base.h>
45 #include <hpp/fcl/internal/traversal_node_bvhs.h>
46 
48 namespace hpp
49 {
50 namespace fcl
51 {
52 
53 
61 void collide(CollisionTraversalNodeBase* node, const CollisionRequest& request,
62  CollisionResult& result, BVHFrontList* front_list = NULL,
63  bool recursive = true);
64 
66 void distance(DistanceTraversalNodeBase* node, BVHFrontList* front_list = NULL, int qsize = 2);
67 }
68 
69 } // namespace hpp
70 
72 
73 #endif
hpp
Main namespace.
Definition: AABB.h:43
hpp::fcl::distance
FCL_REAL distance(const Matrix3f &R0, const Vec3f &T0, const kIOS &b1, const kIOS &b2, Vec3f *P=NULL, Vec3f *Q=NULL)
Approximate distance between two kIOS bounding volumes.
traversal_node_base.h
traversal_node_bvhs.h
hpp::fcl::collide
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, 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. Return value is the number of contacts generated between the two objects.
hpp::fcl::BVHFrontList
std::list< BVHFrontNode > BVHFrontList
BVH front list is a list of front nodes.
Definition: BVH_front.h:69
BVH_front.h