Program Listing for File contact_patch_func_matrix.h

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#ifndef COAL_CONTACT_PATCH_FUNC_MATRIX_H
#define COAL_CONTACT_PATCH_FUNC_MATRIX_H

#include "coal/collision_data.h"
#include "coal/contact_patch/contact_patch_solver.h"
#include "coal/narrowphase/narrowphase.h"

namespace coal {

struct COAL_DLLAPI ContactPatchFunctionMatrix {
  typedef void (*ContactPatchFunc)(const CollisionGeometry* o1,
                                   const Transform3s& tf1,
                                   const CollisionGeometry* o2,
                                   const Transform3s& tf2,
                                   const CollisionResult& collision_result,
                                   const ContactPatchSolver* csolver,
                                   const ContactPatchRequest& request,
                                   ContactPatchResult& result);

  ContactPatchFunc contact_patch_matrix[NODE_COUNT][NODE_COUNT];

  ContactPatchFunctionMatrix();
};

}  // namespace coal

#endif