sphere_cylinder.h

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#ifndef FCL_NARROWPHASE_DETAIL_SPHERECYLINDER_H
#define FCL_NARROWPHASE_DETAIL_SPHERECYLINDER_H

#include "fcl/geometry/shape/cylinder.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.


template <typename S>
FCL_EXPORT bool sphereCylinderIntersect(const Sphere<S>& sphere,
                                        const Transform3<S>& X_FS,
                                        const Cylinder<S>& cylinder,
                                        const Transform3<S>& X_FC,
                                        std::vector<ContactPoint<S>>* contacts);

template <typename S>
FCL_EXPORT bool sphereCylinderDistance(const Sphere<S>& sphere,
                                       const Transform3<S>& X_FS,
                                       const Cylinder<S>& cylinder,
                                       const Transform3<S>& X_FC, S* distance,
                                       Vector3<S>* p_FSc, Vector3<S>* p_FCs);


} // namespace detail
} // namespace fcl

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

#endif // FCL_NARROWPHASE_DETAIL_SPHERECYLINDER_H