distance_func_matrix.h

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#ifndef HPP_FCL_DISTANCE_FUNC_MATRIX_H
#define HPP_FCL_DISTANCE_FUNC_MATRIX_H

#include <hpp/fcl/collision_object.h>
#include <hpp/fcl/collision_data.h>
#include <hpp/fcl/narrowphase/narrowphase.h>

namespace hpp
{
namespace fcl
{

struct DistanceFunctionMatrix
{
  typedef FCL_REAL (*DistanceFunc)(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2, const GJKSolver* nsolver,
                                   const DistanceRequest& request, DistanceResult& result);
  
  DistanceFunc distance_matrix[NODE_COUNT][NODE_COUNT];

  DistanceFunctionMatrix();
};

}

} // namespace hpp

#endif