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45 #include "../narrowphase/details.h"
57 const Plane& s2 =
static_cast<const Plane&
>(*o2);
73 const Plane& s1 =
static_cast<const Plane&
>(*o1);
int b2
information about the nearest point in object 2 if object 2 is mesh or point cloud,...
Vec3f nearest_points[2]
nearest points
const CollisionGeometry * o1
collision object 1
The geometry for the object for collision or distance computation.
FCL_REAL ShapeShapeDistance< Plane, Capsule >(const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *, const DistanceRequest &, DistanceResult &result)
Vec3f normal
In case both objects are in collision, store the normal.
collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the ...
int b1
information about the nearest point in object 1 if object 1 is mesh or point cloud,...
Capsule It is where is the distance between the point x and the capsule segment AB,...
FCL_REAL min_distance
minimum distance between two objects. if two objects are in collision, min_distance <= 0.
request to the distance computation
const CollisionGeometry * o2
collision object 2
FCL_REAL ShapeShapeDistance< Capsule, Plane >(const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *, const DistanceRequest &, DistanceResult &result)
bool capsulePlaneIntersect(const Capsule &s1, const Transform3f &tf1, const Plane &s2, const Transform3f &tf2, FCL_REAL &distance, Vec3f &p1, Vec3f &p2, Vec3f &normal)
hpp-fcl
Author(s):
autogenerated on Fri Aug 2 2024 02:45:13