distance_request-inl.h

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#ifndef FCL_DISTANCEREQUEST_INL_H
#define FCL_DISTANCEREQUEST_INL_H

#include "fcl/narrowphase/distance_request.h"

#include "fcl/narrowphase/distance_result.h"

namespace fcl
{

//==============================================================================
extern template
struct DistanceRequest<double>;

//==============================================================================
template <typename S>
DistanceRequest<S>::DistanceRequest(
    bool enable_nearest_points_,
    bool enable_signed_distance_,
    S rel_err_,
    S abs_err_,
    S distance_tolerance_,
    GJKSolverType gjk_solver_type_)
  : enable_nearest_points(enable_nearest_points_),
    enable_signed_distance(enable_signed_distance_),
    rel_err(rel_err_),
    abs_err(abs_err_),
    distance_tolerance(distance_tolerance_),
    gjk_solver_type(gjk_solver_type_)
{
  // Do nothing
}

//==============================================================================
template <typename S>
bool DistanceRequest<S>::isSatisfied(
    const DistanceResult<S>& result) const
{
  return (result.min_distance <= 0);
}

} // namespace fcl

#endif