hpp-fcl: include/hpp/fcl/internal/shape_shape_func.h Source File

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

shape_shape_func.h
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34
37 #ifndef HPP_FCL_INTERNAL_SHAPE_SHAPE_FUNC_H
38 #define HPP_FCL_INTERNAL_SHAPE_SHAPE_FUNC_H
39
41
42 #include <hpp/fcl/collision_data.h>
43 #include <hpp/fcl/narrowphase/narrowphase.h>
44
45 namespace hpp
46 {
47 namespace fcl
48 {
49 template<typename T_SH1, typename T_SH2>
50 HPP_FCL_DLLAPI FCL_REAL ShapeShapeDistance
51 (const CollisionGeometry* o1, const Transform3f& tf1,
52 const CollisionGeometry* o2, const Transform3f& tf2,
53 const GJKSolver* nsolver, const DistanceRequest& request,
54 DistanceResult& result);
55
56 template<typename T_SH1, typename T_SH2>
57 HPP_FCL_DLLAPI std::size_t ShapeShapeCollide
58 (const CollisionGeometry* o1, const Transform3f& tf1,
59 const CollisionGeometry* o2, const Transform3f& tf2,
60 const GJKSolver* nsolver, const CollisionRequest& request,
61 CollisionResult& result);
62
63 #define SHAPE_SHAPE_DISTANCE_SPECIALIZATION(T1,T2) \
64 template<> \
65 HPP_FCL_DLLAPI FCL_REAL ShapeShapeDistance<T1,T2> \
66 (const CollisionGeometry* o1, const Transform3f& tf1, \
67 const CollisionGeometry* o2, const Transform3f& tf2, \
68 const GJKSolver* nsolver, const DistanceRequest& request, \
69 DistanceResult& result); \
70 template<> \
71 HPP_FCL_DLLAPI FCL_REAL ShapeShapeDistance<T2,T1> \
72 (const CollisionGeometry* o1, const Transform3f& tf1, \
73 const CollisionGeometry* o2, const Transform3f& tf2, \
74 const GJKSolver* nsolver, const DistanceRequest& request, \
75 DistanceResult& result)
76
77 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Box,Halfspace);
78 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Box,Plane);
79 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Box,Sphere);
80 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Capsule,Capsule);
81 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Capsule,Halfspace);
82 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Capsule,Plane);
83 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Cone,Halfspace);
84 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Cone,Plane);
85 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Cylinder,Halfspace);
86 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Cylinder,Plane);
87 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Sphere,Halfspace);
88 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Sphere,Plane);
89 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Sphere,Sphere);
90 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Sphere,Cylinder);
91
92 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(ConvexBase, Halfspace);
93 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(TriangleP, Halfspace);
94
95 #undef SHAPE_SHAPE_DISTANCE_SPECIALIZATION
96
97 #define SHAPE_SHAPE_COLLIDE_SPECIALIZATION(T1,T2) \
98 template<> \
99 HPP_FCL_DLLAPI std::size_t ShapeShapeCollide<T1,T2> \
100 (const CollisionGeometry* o1, const Transform3f& tf1, \
101 const CollisionGeometry* o2, const Transform3f& tf2, \
102 const GJKSolver* nsolver, const CollisionRequest& request, \
103 CollisionResult& result)
104
105 SHAPE_SHAPE_COLLIDE_SPECIALIZATION(Sphere,Sphere);
106
107 #undef SHAPE_SHAPE_COLLIDE_SPECIALIZATION
108 }
109
110 } // namespace hpp
111
113
114 #endif
collision_data.h
hpp::fcl::FCL_REAL
double FCL_REAL
Definition: data_types.h:66
hpp
Main namespace.
Definition: AABB.h:44
narrowphase.h