collision.h File Reference

#include "fcl/math/vec_3f.h"
#include "fcl/collision_object.h"
#include "fcl/collision_data.h"

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Namespaces
namespace	fcl
	Main namespace.
Functions
template<typename NarrowPhaseSolver >
std::size_t	fcl::collide (const CollisionObject *o1, const CollisionObject *o2, const NarrowPhaseSolver *nsolver, const CollisionRequest &request, CollisionResult &result)
	Main collision interface: given two collision objects, and the requirements for contacts, including num of max contacts, whether perform exhaustive collision (i.e., returning returning all the contact points), whether return detailed contact information (i.e., normal, contact point, depth; otherwise only contact primitive id is returned), this function performs the collision between them. Return value is the number of contacts generated between the two objects.
template<typename NarrowPhaseSolver >
std::size_t	fcl::collide (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest &request, CollisionResult &result)
std::size_t	fcl::collide (const CollisionObject *o1, const CollisionObject *o2, const CollisionRequest &request, CollisionResult &result)
std::size_t	fcl::collide (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const CollisionRequest &request, CollisionResult &result)