FCL  0.6.0
Flexible Collision Library
capsule_capsule.h
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35 
38 #ifndef FCL_NARROWPHASE_DETAIL_CAPSULECAPSULE_H
39 #define FCL_NARROWPHASE_DETAIL_CAPSULECAPSULE_H
40 
41 #include "fcl/common/types.h"
42 #include "fcl/geometry/shape/capsule.h"
43 
44 namespace fcl
45 {
46 
47 namespace detail
48 {
49 
50 // Clamp n to lie within the range [min, max]
51 template <typename S>
52 S clamp(S n, S min, S max);
53 
54 // Computes closest points C1 and C2 of S1(s)=P1+s*(Q1-P1) and
55 // S2(t)=P2+t*(Q2-P2), returning s and t. Function result is squared
56 // distance between between S1(s) and S2(t)
57 template <typename S>
58 S closestPtSegmentSegment(
59  Vector3<S> p1, Vector3<S> q1, Vector3<S> p2, Vector3<S> q2,
60  S &s, S &t, Vector3<S> &c1, Vector3<S> &c2);
61 
62 // Computes closest points C1 and C2 of S1(s)=P1+s*(Q1-P1) and
63 // S2(t)=P2+t*(Q2-P2), returning s and t. Function result is squared
64 // distance between between S1(s) and S2(t)
65 template <typename S>
66 bool capsuleCapsuleDistance(const Capsule<S>& s1, const Transform3<S>& tf1,
67  const Capsule<S>& s2, const Transform3<S>& tf2,
68  S* dist, Vector3<S>* p1_res, Vector3<S>* p2_res);
69 
70 } // namespace detail
71 } // namespace fcl
72 
73 #include "fcl/narrowphase/detail/primitive_shape_algorithm/capsule_capsule-inl.h"
74 
75 #endif
Main namespace.
Definition: broadphase_bruteforce-inl.h:45