coal/distance_func_matrix.h

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#ifndef COAL_DISTANCE_FUNC_MATRIX_H
#define COAL_DISTANCE_FUNC_MATRIX_H
 
#include "coal/collision_object.h"
#include "coal/collision_data.h"
#include "coal/narrowphase/narrowphase.h"
 
namespace coal {
 
struct COAL_DLLAPI DistanceFunctionMatrix {
  typedef CoalScalar (*DistanceFunc)(const CollisionGeometry* o1,
                                     const Transform3s& tf1,
                                     const CollisionGeometry* o2,
                                     const Transform3s& tf2,
                                     const GJKSolver* nsolver,
                                     const DistanceRequest& request,
                                     DistanceResult& result);
 
  DistanceFunc distance_matrix[NODE_COUNT][NODE_COUNT];
 
  DistanceFunctionMatrix();
};
 
}  // namespace coal
 
#endif