sphere_box.h

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#ifndef FCL_NARROWPHASE_DETAIL_SPHEREBOX_H
#define FCL_NARROWPHASE_DETAIL_SPHEREBOX_H

#include "fcl/geometry/shape/box.h"
#include "fcl/geometry/shape/sphere.h"
#include "fcl/narrowphase/contact_point.h"

namespace fcl {

namespace detail {

// NOTE: the choice to consider touching contact as collision is predicated on
// the implementation in sphere-sphere contact.


// NOTE: The handling of the discontinuities in normal and position was
// implicitly defined in the spherebox test in test_fcl_geometric_shapes.cpp. It
// provided backwards compatibility to that test.

template <typename S>
FCL_EXPORT bool sphereBoxIntersect(const Sphere<S>& sphere,
                                   const Transform3<S>& X_FS, const Box<S>& box,
                                   const Transform3<S>& X_FB,
                                   std::vector<ContactPoint<S>>* contacts);

template <typename S>
FCL_EXPORT bool sphereBoxDistance(const Sphere<S>& sphere,
                                  const Transform3<S>& X_FS, const Box<S>& box,
                                  const Transform3<S>& X_FB, S* distance,
                                  Vector3<S>* p_FSb, Vector3<S>* p_FBs);


} // namespace detail
} // namespace fcl

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

#endif // FCL_NARROWPHASE_DETAIL_SPHEREBOX_H