coal/collision_func_matrix.h

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#ifndef COAL_COLLISION_FUNC_MATRIX_H
#define COAL_COLLISION_FUNC_MATRIX_H
 
#include "coal/collision_object.h"
#include "coal/collision_data.h"
#include "coal/narrowphase/narrowphase.h"
 
namespace coal {
 
 
struct COAL_DLLAPI CollisionFunctionMatrix {
  typedef std::size_t (*CollisionFunc)(const CollisionGeometry* o1,
                                       const Transform3s& tf1,
                                       const CollisionGeometry* o2,
                                       const Transform3s& tf2,
                                       const GJKSolver* nsolver,
                                       const CollisionRequest& request,
                                       CollisionResult& result);
 
  CollisionFunc collision_matrix[NODE_COUNT][NODE_COUNT];
 
  CollisionFunctionMatrix();
};
 
}  // namespace coal
 
#endif