polysolver.h

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#ifndef FCL_NARROWPHASE_DETAIL_POLYSOLVER_H
#define FCL_NARROWPHASE_DETAIL_POLYSOLVER_H
 
#include "fcl/export.h"
 
namespace fcl
{
 
namespace detail {
 
template <typename S>
class FCL_EXPORT PolySolver
{
public:
  static int solveLinear(S c[2], S s[1]);
 
  static int solveQuadric(S c[3], S s[2]);
 
  static int solveCubic(S c[4], S s[3]);
 
private:
  static bool isZero(S v);
 
  static bool cbrt(S v);
 
  static constexpr S getNearZeroThreshold();
};
 
using PolySolverf = PolySolver<float>;
using PolySolverd = PolySolver<double>;
 
} // namespace detail
} // namespace fcl
 
#include "fcl/math/detail/polysolver-inl.h"
 
#endif