contact_point.h

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#ifndef FCL_CONTACTPOINT_H
#define FCL_CONTACTPOINT_H
 
#include "fcl/common/types.h"
 
namespace fcl
{
 
template <typename S>
struct FCL_EXPORT ContactPoint
{
  Vector3<S> normal;
 
  Vector3<S> pos;
 
  S penetration_depth;
 
  ContactPoint();
 
  ContactPoint(const Vector3<S>& n_, const Vector3<S>& p_, S d_);
};
 
using ContactPointf = ContactPoint<float>;
using ContactPointd = ContactPoint<double>;
 
template <typename S>
FCL_EXPORT
bool comparePenDepth(
    const ContactPoint<S>& _cp1, const ContactPoint<S>& _cp2);
 
template <typename S>
FCL_EXPORT
void flipNormal(std::vector<ContactPoint<S>>& contacts);
 
} // namespace fcl
 
#include "fcl/narrowphase/contact_point-inl.h"
 
#endif