hpp-fcl: include/hpp/fcl/collision_func_matrix.h Source File

hpp-fcl 1.7.2 HPP fork of FCL -- The Flexible Collision Library

collision_func_matrix.h
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35
39 #ifndef HPP_FCL_COLLISION_FUNC_MATRIX_H
40 #define HPP_FCL_COLLISION_FUNC_MATRIX_H
41
42
43 #include <hpp/fcl/collision_object.h>
44 #include <hpp/fcl/collision_data.h>
45 #include <hpp/fcl/narrowphase/narrowphase.h>
46
47 namespace hpp
48 {
49 namespace fcl
50 {
51
53
54 struct HPP_FCL_DLLAPI CollisionFunctionMatrix
55 {
61 typedef std::size_t (*CollisionFunc)(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2, const GJKSolver* nsolver, const CollisionRequest& request, CollisionResult& result);
62
64 CollisionFunc collision_matrix[NODE_COUNT][NODE_COUNT];
65
66 CollisionFunctionMatrix();
67 };
68
69
70
71 }
72
73 } // namespace hpp
74
75 #endif
hpp::fcl::CollisionGeometry
The geometry for the object for collision or distance computation.
Definition: collision_object.h:66
hpp::fcl::Transform3f
Simple transform class used locally by InterpMotion.
Definition: transform.h:59
collision_data.h
collision_object.h
hpp::fcl::NODE_COUNT
@ NODE_COUNT
Definition: collision_object.h:59
hpp
Main namespace.
Definition: AABB.h:44
narrowphase.h
hpp::fcl::CollisionFunctionMatrix
collision matrix stores the functions for collision between different types of objects and provides a...
Definition: collision_func_matrix.h:55
hpp::fcl::CollisionFunctionMatrix::CollisionFunctionMatrix
CollisionFunctionMatrix()
hpp::fcl::CollisionRequest
request to the collision algorithm
Definition: collision_data.h:209
hpp::fcl::CollisionResult
collision result
Definition: collision_data.h:270
hpp::fcl::GJKSolver
collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the ...
Definition: narrowphase.h:54