capsule_capsule.h
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35 
38 #ifndef FCL_NARROWPHASE_DETAIL_CAPSULECAPSULE_H
39 #define FCL_NARROWPHASE_DETAIL_CAPSULECAPSULE_H
40 
41 #include "fcl/common/types.h"
43 
44 namespace fcl
45 {
46 
47 namespace detail
48 {
49 
50 // Clamp n to lie within the range [min, max]
51 template <typename S>
52 FCL_EXPORT
53 S clamp(S n, S min, S max);
54 
75 template <typename S>
76 FCL_EXPORT S closestPtSegmentSegment(const Vector3<S>& p_FP1,
77  const Vector3<S>& p_FQ1,
78  const Vector3<S>& p_FP2,
79  const Vector3<S>& p_FQ2, S* s, S* t,
80  Vector3<S>* p_FC1, Vector3<S>* p_FC2);
81 
106 template <typename S>
107 FCL_EXPORT
108 bool capsuleCapsuleDistance(const Capsule<S>& s1, const Transform3<S>& X_FC1,
109  const Capsule<S>& s2, const Transform3<S>& X_FC2,
110  S* dist, Vector3<S>* p_FW1, Vector3<S>* p_FW2);
111 
112 } // namespace detail
113 } // namespace fcl
114 
116 
117 #endif
fcl::detail::clamp
template double clamp(double n, double min, double max)
types.h
capsule_capsule-inl.h
max
static T max(T x, T y)
Definition: svm.cpp:52
fcl::detail::closestPtSegmentSegment
template double closestPtSegmentSegment(const Vector3d &p_FP1, const Vector3d &p_FQ1, const Vector3d &p_FP2, const Vector3d &p_FQ2, double *s, double *t, Vector3d *p_FC1, Vector3d *p_FC2)
fcl::detail::capsuleCapsuleDistance
template bool capsuleCapsuleDistance(const Capsule< double > &s1, const Transform3< double > &tf1, const Capsule< double > &s2, const Transform3< double > &tf2, double *dist, Vector3d *p1_res, Vector3d *p2_res)
capsule.h
min
static T min(T x, T y)
Definition: svm.cpp:49
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


fcl
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autogenerated on Tue Dec 5 2023 03:40:48