distance_result.h

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#ifndef FCL_DISTANCERESULT_H
#define FCL_DISTANCERESULT_H
 
#include "fcl/common/types.h"
 
namespace fcl
{
 
template <typename>
class CollisionGeometry;
 
template <typename S>
struct FCL_EXPORT DistanceResult
{
public:
 
  S min_distance;
 
  Vector3<S> nearest_points[2];
 
  const CollisionGeometry<S>* o1;
 
  const CollisionGeometry<S>* o2;
 
  intptr_t b1;
 
  intptr_t b2;
 
  static const int NONE = -1;
  
  DistanceResult(S min_distance_ = std::numeric_limits<S>::max());
 
  void update(S distance, const CollisionGeometry<S>* o1_, const CollisionGeometry<S>* o2_, int b1_, int b2_);
 
  void update(S distance, const CollisionGeometry<S>* o1_, const CollisionGeometry<S>* o2_, int b1_, int b2_, const Vector3<S>& p1, const Vector3<S>& p2);
 
  void update(const DistanceResult& other_result);
 
  void clear();
};
 
using DistanceResultf = DistanceResult<float>;
using DistanceResultd = DistanceResult<double>;
 
} // namespace fcl
 
#include "fcl/narrowphase/distance_result-inl.h"
 
#endif