collision_node.h
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35 
38 #ifndef HPP_FCL_COLLISION_NODE_H
39 #define HPP_FCL_COLLISION_NODE_H
40 
42 
43 #include <hpp/fcl/BVH/BVH_front.h>
44 #include <hpp/fcl/internal/traversal_node_base.h>
45 #include <hpp/fcl/internal/traversal_node_bvhs.h>
46 
50 namespace hpp {
51 namespace fcl {
52 
61 HPP_FCL_DLLAPI void collide(CollisionTraversalNodeBase* node,
62  const CollisionRequest& request,
63  CollisionResult& result,
64  BVHFrontList* front_list = NULL,
65  bool recursive = true);
66 
69 HPP_FCL_DLLAPI void distance(DistanceTraversalNodeBase* node,
70  BVHFrontList* front_list = NULL,
71  unsigned int qsize = 2);
72 } // namespace fcl
73 
74 } // namespace hpp
75 
77 
78 #endif
hpp
Main namespace.
Definition: broadphase_bruteforce.h:44
hpp::fcl::distance
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.
Definition: kIOS.cpp:181
traversal_node_base.h
traversal_node_bvhs.h
hpp::fcl::collide
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.
Definition: src/collision.cpp:63
hpp::fcl::BVHFrontList
std::list< BVHFrontNode > BVHFrontList
BVH front list is a list of front nodes.
Definition: BVH_front.h:67
BVH_front.h

hpp-fcl
Author(s):
autogenerated on Fri Jun 2 2023 02:39:00