capsule_capsule.h

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#ifndef FCL_NARROWPHASE_DETAIL_CAPSULECAPSULE_H
#define FCL_NARROWPHASE_DETAIL_CAPSULECAPSULE_H

#include "fcl/common/types.h"
#include "fcl/geometry/shape/capsule.h"

namespace fcl
{

namespace detail
{

// Clamp n to lie within the range [min, max]
template <typename S>
FCL_EXPORT
S clamp(S n, S min, S max);

template <typename S>
FCL_EXPORT S closestPtSegmentSegment(const Vector3<S>& p_FP1,
                                     const Vector3<S>& p_FQ1,
                                     const Vector3<S>& p_FP2,
                                     const Vector3<S>& p_FQ2, S* s, S* t,
                                     Vector3<S>* p_FC1, Vector3<S>* p_FC2);

template <typename S>
FCL_EXPORT
bool capsuleCapsuleDistance(const Capsule<S>& s1, const Transform3<S>& X_FC1,
          const Capsule<S>& s2, const Transform3<S>& X_FC2,
          S* dist, Vector3<S>* p_FW1, Vector3<S>* p_FW2);

} // namespace detail
} // namespace fcl

#include "fcl/narrowphase/detail/primitive_shape_algorithm/capsule_capsule-inl.h"

#endif