narrowphase.cpp File Reference

#include <hpp/fcl/narrowphase/narrowphase.h>
#include <vector>
#include <hpp/fcl/shape/geometric_shapes_utility.h>
#include <hpp/fcl/internal/intersect.h>
#include "details.h"

Include dependency graph for narrowphase.cpp:

Go to the source code of this file.

Namespaces
	hpp
	Main namespace.
	hpp::fcl

Macros
#define	SHAPE_INTERSECT_INVERTED(Shape1, Shape2)

Macro Definition Documentation

SHAPE_INTERSECT_INVERTED

#define SHAPE_INTERSECT_INVERTED	(		Shape1,
			Shape2
	)

Value:

  template <>                                                                \
  bool GJKSolver::shapeIntersect<Shape1, Shape2>(                            \
      const Shape1& s1, const Transform3f& tf1, const Shape2& s2,            \
      const Transform3f& tf2, FCL_REAL& distance_lower_bound,                \
      bool enable_penetration, Vec3f* contact_points, Vec3f* normal) const { \
    bool res = shapeIntersect(s2, tf2, s1, tf1, distance_lower_bound,        \
                              enable_penetration, contact_points, normal);   \
    (*normal) *= -1.0;                                                       \
    return res;                                                              \
  }

Definition at line 81 of file narrowphase.cpp.