37 #ifndef HPP_FCL_BROADPHASE_BROAD_PHASE_CALLBACKS_H 38 #define HPP_FCL_BROADPHASE_BROAD_PHASE_CALLBACKS_H 98 #endif // HPP_FCL_BROADPHASE_BROAD_PHASE_CALLBACKS_H virtual void init()
Initialization of the callback before running the collision broadphase manager.
virtual bool operator()(CollisionObject *o1, CollisionObject *o2, FCL_REAL &dist)
Functor call associated to the distance operation.
Base callback class for collision queries. This class can be supersed by child classes to provide des...
virtual void init()
Initialization of the callback before running the collision broadphase manager.
HPP_FCL_DLLAPI FCL_REAL distance(const Matrix3f &R0, const Vec3f &T0, const kIOS &b1, const kIOS &b2, Vec3f *P=NULL, Vec3f *Q=NULL)
Approximate distance between two kIOS bounding volumes.
virtual bool operator()(CollisionObject *o1, CollisionObject *o2)
Functor call associated to the collide operation.
HPP_FCL_DLLAPI std::size_t collide(const CollisionObject *o1, const CollisionObject *o2, const CollisionRequest &request, CollisionResult &result)
Main collision interface: given two collision objects, and the requirements for contacts, including num of max contacts, whether perform exhaustive collision (i.e., returning returning all the contact points), whether return detailed contact information (i.e., normal, contact point, depth; otherwise only contact primitive id is returned), this function performs the collision between them. Return value is the number of contacts generated between the two objects.
the object for collision or distance computation, contains the geometry and the transform information...
Base callback class for distance queries. This class can be supersed by child classes to provide desi...