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_data.h>
#include <hpp/fcl/narrowphase/narrowphase.h>

namespace hpp
{
namespace fcl
{
  template<typename T_SH1, typename T_SH2>
    FCL_REAL ShapeShapeDistance
    (const CollisionGeometry* o1, const Transform3f& tf1,
     const CollisionGeometry* o2, const Transform3f& tf2,
     const GJKSolver* nsolver, const DistanceRequest& request,
     DistanceResult& result);

  template<typename T_SH1, typename T_SH2>
    std::size_t ShapeShapeCollide
    (const CollisionGeometry* o1, const Transform3f& tf1,
     const CollisionGeometry* o2, const Transform3f& tf2, 
     const GJKSolver* nsolver, const CollisionRequest& request,
     CollisionResult& result);
}

} // namespace hpp


#endif