FCL  0.6.0
Flexible Collision Library
continuous_collision.h
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35 
38 #ifndef FCL_CONTINUOUS_COLLISION_H
39 #define FCL_CONTINUOUS_COLLISION_H
40 
41 #include <iostream>
42 #include "fcl/narrowphase/collision_object.h"
43 #include "fcl/narrowphase/continuous_collision_object.h"
44 #include "fcl/narrowphase/detail/gjk_solver_indep.h"
45 #include "fcl/narrowphase/detail/gjk_solver_libccd.h"
46 #include "fcl/narrowphase/detail/conservative_advancement_func_matrix.h"
47 #include "fcl/narrowphase/detail/traversal/collision/mesh_continuous_collision_traversal_node.h"
48 
49 namespace fcl
50 {
51 
53 template <typename S>
54 S continuousCollide(
55  const CollisionGeometry<S>* o1,
56  const MotionBase<S>* motion1,
57  const CollisionGeometry<S>* o2,
58  const MotionBase<S>* motion2,
59  const ContinuousCollisionRequest<S>& request,
60  ContinuousCollisionResult<S>& result);
61 
62 template <typename S>
63 S continuousCollide(
64  const CollisionGeometry<S>* o1,
65  const Transform3<S>& tf1_beg,
66  const Transform3<S>& tf1_end,
67  const CollisionGeometry<S>* o2,
68  const Transform3<S>& tf2_beg,
69  const Transform3<S>& tf2_end,
70  const ContinuousCollisionRequest<S>& request,
71  ContinuousCollisionResult<S>& result);
72 
73 template <typename S>
74 S continuousCollide(
75  const CollisionObject<S>* o1,
76  const Transform3<S>& tf1_end,
77  const CollisionObject<S>* o2,
78  const Transform3<S>& tf2_end,
79  const ContinuousCollisionRequest<S>& request,
80  ContinuousCollisionResult<S>& result);
81 
82 template <typename S>
83 S collide(
84  const ContinuousCollisionObject<S>* o1,
85  const ContinuousCollisionObject<S>* o2,
86  const ContinuousCollisionRequest<S>& request,
87  ContinuousCollisionResult<S>& result);
88 
89 } // namespace fcl
90 
91 #include "fcl/narrowphase/continuous_collision-inl.h"
92 
93 #endif
Main namespace.
Definition: broadphase_bruteforce-inl.h:45