capsule_capsule.cpp

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#include "fcl/narrowphase/detail/primitive_shape_algorithm/capsule_capsule-inl.h"
 
namespace fcl
{
 
namespace detail
{
 
//==============================================================================
template
double clamp(double n, double min, double max);
 
//==============================================================================
template double closestPtSegmentSegment(const Vector3d& p_FP1,
                                        const Vector3d& p_FQ1,
                                        const Vector3d& p_FP2,
                                        const Vector3d& p_FQ2, double* s,
                                        double* t, Vector3d* p_FC1,
                                        Vector3d* p_FC2);
 
//==============================================================================
template
bool capsuleCapsuleDistance(
    const Capsule<double>& s1, const Transform3<double>& tf1,
    const Capsule<double>& s2, const Transform3<double>& tf2,
    double* dist, Vector3d* p1_res, Vector3d* p2_res);
 
} // namespace detail
} // namespace fcl