broadphase_callbacks.h

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#ifndef HPP_FCL_BROADPHASE_BROAD_PHASE_CALLBACKS_H
#define HPP_FCL_BROADPHASE_BROAD_PHASE_CALLBACKS_H

#include "hpp/fcl/fwd.hh"
#include "hpp/fcl/data_types.h"

namespace hpp {
namespace fcl {

struct HPP_FCL_DLLAPI CollisionCallBackBase {
  virtual void init(){};

  virtual bool collide(CollisionObject* o1, CollisionObject* o2) = 0;

  virtual bool operator()(CollisionObject* o1, CollisionObject* o2) {
    return collide(o1, o2);
  }
};

struct HPP_FCL_DLLAPI DistanceCallBackBase {
  virtual void init(){};

  virtual bool distance(CollisionObject* o1, CollisionObject* o2,
                        FCL_REAL& dist) = 0;

  virtual bool operator()(CollisionObject* o1, CollisionObject* o2,
                          FCL_REAL& dist) {
    return distance(o1, o2, dist);
  }
};

}  // namespace fcl
}  // namespace hpp

#endif  // HPP_FCL_BROADPHASE_BROAD_PHASE_CALLBACKS_H