gjk_solver_indep.h

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#ifndef FCL_NARROWPHASE_GJKSOLVERINDEP_H
#define FCL_NARROWPHASE_GJKSOLVERINDEP_H

#include "fcl/common/deprecated.h"
#include "fcl/common/types.h"
#include "fcl/narrowphase/contact_point.h"

namespace fcl
{

namespace detail
{

template <typename S_>
struct GJKSolver_indep
{  
  using S = S_;

  template<typename Shape1, typename Shape2>
  FCL_DEPRECATED
  bool shapeIntersect(
      const Shape1& s1,
      const Transform3<S>& tf1,
      const Shape2& s2,
      const Transform3<S>& tf2,
      Vector3<S>* contact_points,
      S* penetration_depth,
      Vector3<S>* normal) const;

  template<typename Shape1, typename Shape2>
  bool shapeIntersect(
      const Shape1& s1,
      const Transform3<S>& tf1,
      const Shape2& s2,
      const Transform3<S>& tf2,
      std::vector<ContactPoint<S>>* contacts = nullptr) const;

  template<typename Shape>
  bool shapeTriangleIntersect(
      const Shape& s,
      const Transform3<S>& tf,
      const Vector3<S>& P1,
      const Vector3<S>& P2,
      const Vector3<S>& P3,
      Vector3<S>* contact_points = nullptr,
      S* penetration_depth = nullptr,
      Vector3<S>* normal = nullptr) const;

  template<typename Shape>
  bool shapeTriangleIntersect(
      const Shape& s,
      const Transform3<S>& tf1,
      const Vector3<S>& P1,
      const Vector3<S>& P2,
      const Vector3<S>& P3,
      const Transform3<S>& tf2,
      Vector3<S>* contact_points = nullptr,
      S* penetration_depth = nullptr,
      Vector3<S>* normal = nullptr) const;

  template<typename Shape1, typename Shape2>
  bool shapeDistance(
      const Shape1& s1,
      const Transform3<S>& tf1,
      const Shape2& s2,
      const Transform3<S>& tf2,
      S* distance = nullptr,
      Vector3<S>* p1 = nullptr,
      Vector3<S>* p2 = nullptr) const;

  template<typename Shape>
  bool shapeTriangleDistance(
      const Shape& s,
      const Transform3<S>& tf,
      const Vector3<S>& P1,
      const Vector3<S>& P2,
      const Vector3<S>& P3,
      S* distance = nullptr,
      Vector3<S>* p1 = nullptr,
      Vector3<S>* p2 = nullptr) const;
  
  template<typename Shape>
  bool shapeTriangleDistance(
      const Shape& s,
      const Transform3<S>& tf1,
      const Vector3<S>& P1,
      const Vector3<S>& P2,
      const Vector3<S>& P3,
      const Transform3<S>& tf2,
      S* distance = nullptr,
      Vector3<S>* p1 = nullptr,
      Vector3<S>* p2 = nullptr) const;
  
  GJKSolver_indep();

  void enableCachedGuess(bool if_enable) const;

  void setCachedGuess(const Vector3<S>& guess) const;

  Vector3<S> getCachedGuess() const;

  unsigned int epa_max_face_num;

  unsigned int epa_max_vertex_num;

  unsigned int epa_max_iterations;

  S epa_tolerance;

  S gjk_tolerance;

  S gjk_max_iterations;

  mutable bool enable_cached_guess;

  mutable Vector3<S> cached_guess;
};

using GJKSolver_indepf = GJKSolver_indep<float>;
using GJKSolver_indepd = GJKSolver_indep<double>;

} // namespace detail
} // namespace fcl

#include "fcl/narrowphase/detail/gjk_solver_indep-inl.h"

#endif