OBB.h

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 *  Author: Florent Lamiraux
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#ifndef HPP_FCL_SRC_OBB_H
# define HPP_FCL_SRC_OBB_H

namespace hpp
{
namespace fcl
{

  bool obbDisjointAndLowerBoundDistance (const Matrix3f& B, const Vec3f& T,
                     const Vec3f& a, const Vec3f& b,
                                         const CollisionRequest& request,
                     FCL_REAL& squaredLowerBoundDistance);

  bool obbDisjoint(const Matrix3f& B, const Vec3f& T, const Vec3f& a,
           const Vec3f& b);
} // namespace fcl

} // namespace hpp

#endif // HPP_FCL_SRC_OBB_H