collision_func_matrix.h

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#ifndef HPP_FCL_COLLISION_FUNC_MATRIX_H
#define HPP_FCL_COLLISION_FUNC_MATRIX_H

#include <hpp/fcl/collision_object.h>
#include <hpp/fcl/collision_data.h>
#include <hpp/fcl/narrowphase/narrowphase.h>

namespace hpp {
namespace fcl {


struct HPP_FCL_DLLAPI CollisionFunctionMatrix {
  typedef std::size_t (*CollisionFunc)(const CollisionGeometry* o1,
                                       const Transform3f& tf1,
                                       const CollisionGeometry* o2,
                                       const Transform3f& tf2,
                                       const GJKSolver* nsolver,
                                       const CollisionRequest& request,
                                       CollisionResult& result);

  CollisionFunc collision_matrix[NODE_COUNT][NODE_COUNT];

  CollisionFunctionMatrix();
};

}  // namespace fcl

}  // namespace hpp

#endif