distance_result.h

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#ifndef FCL_DISTANCERESULT_H
#define FCL_DISTANCERESULT_H

#include "fcl/common/types.h"

namespace fcl
{

template <typename>
class CollisionGeometry;

template <typename S>
struct DistanceResult
{
public:

  S min_distance;

  Vector3<S> nearest_points[2];

  const CollisionGeometry<S>* o1;

  const CollisionGeometry<S>* o2;

  int b1;

  int b2;

  static const int NONE = -1;
  
  DistanceResult(S min_distance_ = std::numeric_limits<S>::max());

  void update(S distance, const CollisionGeometry<S>* o1_, const CollisionGeometry<S>* o2_, int b1_, int b2_);

  void update(S distance, const CollisionGeometry<S>* o1_, const CollisionGeometry<S>* o2_, int b1_, int b2_, const Vector3<S>& p1, const Vector3<S>& p2);

  void update(const DistanceResult& other_result);

  void clear();
};

using DistanceResultf = DistanceResult<float>;
using DistanceResultd = DistanceResult<double>;

} // namespace fcl

#include "fcl/narrowphase/distance_result-inl.h"

#endif