hpp-fcl: src/collision_node.h Source File

hpp-fcl 1.7.5 HPP fork of FCL -- The Flexible Collision Library

collision_node.h
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35
38 #ifndef HPP_FCL_COLLISION_NODE_H
39 #define HPP_FCL_COLLISION_NODE_H
40
42
43 #include <hpp/fcl/BVH/BVH_front.h>
44 #include <hpp/fcl/internal/traversal_node_base.h>
45 #include <hpp/fcl/internal/traversal_node_bvhs.h>
46
48 namespace hpp
49 {
50 namespace fcl
51 {
52
53
62 HPP_FCL_DLLAPI void collide(CollisionTraversalNodeBase* node, const CollisionRequest& request,
63 CollisionResult& result, BVHFrontList* front_list = NULL,
64 bool recursive = true);
65
68 HPP_FCL_DLLAPI void distance(DistanceTraversalNodeBase* node,
69 BVHFrontList* front_list = NULL, int qsize = 2);
70 }
71
72 } // namespace hpp
73
75
76 #endif
BVH_front.h
hpp::fcl::distance
FCL_REAL distance(const Matrix3f &R0, const Vec3f &T0, const kIOS &b1, const kIOS &b2, Vec3f *P=NULL, Vec3f *Q=NULL)
Approximate distance between two kIOS bounding volumes.
hpp::fcl::BVHFrontList
std::list< BVHFrontNode > BVHFrontList
BVH front list is a list of front nodes.
Definition: BVH_front.h:71
hpp::fcl::collide
std::size_t collide(const CollisionObject *o1, const CollisionObject *o2, const CollisionRequest &request, CollisionResult &result)
Main collision interface: given two collision objects, and the requirements for contacts,...
hpp
Main namespace.
Definition: AABB.h:44
traversal_node_base.h
traversal_node_bvhs.h