#include "fcl/geometry/shape/sphere.h"#include "fcl/geometry/shape/capsule.h"#include "fcl/narrowphase/contact_point.h"#include "fcl/narrowphase/detail/primitive_shape_algorithm/sphere_capsule-inl.h"
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Namespaces | |
| fcl | |
| Main namespace. | |
| fcl::detail | |
Functions | |
| template<typename S > | |
| FCL_EXPORT void | fcl::detail::lineSegmentPointClosestToPoint (const Vector3< S > &p, const Vector3< S > &s1, const Vector3< S > &s2, Vector3< S > &sp) |
| template<typename S > | |
| FCL_EXPORT bool | fcl::detail::sphereCapsuleDistance (const Sphere< S > &s1, const Transform3< S > &tf1, const Capsule< S > &s2, const Transform3< S > &tf2, S *dist, Vector3< S > *p1, Vector3< S > *p2) |
| template<typename S > | |
| FCL_EXPORT bool | fcl::detail::sphereCapsuleIntersect (const Sphere< S > &s1, const Transform3< S > &tf1, const Capsule< S > &s2, const Transform3< S > &tf2, std::vector< ContactPoint< S >> *contacts) |