box_box.cpp

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#include "fcl/narrowphase/detail/primitive_shape_algorithm/box_box-inl.h"
 
namespace fcl
{
 
namespace detail
{
 
//==============================================================================
template
void lineClosestApproach(const Vector3<double>& pa, const Vector3<double>& ua,
                         const Vector3<double>& pb, const Vector3<double>& ub,
                         double* alpha, double* beta);
 
//==============================================================================
template
int intersectRectQuad2(double h[2], double p[8], double ret[16]);
 
//==============================================================================
template
void cullPoints2(int n, double p[], int m, int i0, int iret[]);
 
//==============================================================================
template
int boxBox2(
    const Vector3<double>& side1,
    const Transform3<double>& tf1,
    const Vector3<double>& side2,
    const Transform3<double>& tf2,
    Vector3<double>& normal,
    double* depth,
    int* return_code,
    int maxc,
    std::vector<ContactPoint<double>>& contacts);
 
//==============================================================================
template
bool boxBoxIntersect(const Box<double>& s1, const Transform3<double>& tf1,
                     const Box<double>& s2, const Transform3<double>& tf2,
                     std::vector<ContactPoint<double>>* contacts_);
 
} // namespace detail
} // namespace fcl