halfspace.h

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#ifndef FCL_NARROWPHASE_DETAIL_HALFSPACE_H
#define FCL_NARROWPHASE_DETAIL_HALFSPACE_H

#include "fcl/geometry/shape/sphere.h"
#include "fcl/geometry/shape/halfspace.h"
#include "fcl/geometry/shape/ellipsoid.h"
#include "fcl/geometry/shape/box.h"
#include "fcl/geometry/shape/capsule.h"
#include "fcl/geometry/shape/cylinder.h"
#include "fcl/geometry/shape/cone.h"
#include "fcl/geometry/shape/convex.h"
#include "fcl/geometry/shape/plane.h"
#include "fcl/narrowphase/contact_point.h"

namespace fcl
{

namespace detail
{

template <typename S>
S halfspaceIntersectTolerance();

template <>
float halfspaceIntersectTolerance();

template <>
double halfspaceIntersectTolerance();

template <typename S>
bool sphereHalfspaceIntersect(const Sphere<S>& s1, const Transform3<S>& tf1,
                              const Halfspace<S>& s2, const Transform3<S>& tf2,
                              std::vector<ContactPoint<S>>* contacts);

template <typename S>
bool ellipsoidHalfspaceIntersect(const Ellipsoid<S>& s1, const Transform3<S>& tf1,
                                 const Halfspace<S>& s2, const Transform3<S>& tf2,
                                 std::vector<ContactPoint<S>>* contacts);

template <typename S>
bool boxHalfspaceIntersect(const Box<S>& s1, const Transform3<S>& tf1,
                           const Halfspace<S>& s2, const Transform3<S>& tf2);

template <typename S>
bool boxHalfspaceIntersect(const Box<S>& s1, const Transform3<S>& tf1,
                           const Halfspace<S>& s2, const Transform3<S>& tf2,
                           std::vector<ContactPoint<S>>* contacts);

template <typename S>
bool capsuleHalfspaceIntersect(const Capsule<S>& s1, const Transform3<S>& tf1,
                               const Halfspace<S>& s2, const Transform3<S>& tf2,
                               std::vector<ContactPoint<S>>* contacts);

template <typename S>
bool cylinderHalfspaceIntersect(const Cylinder<S>& s1, const Transform3<S>& tf1,
                                const Halfspace<S>& s2, const Transform3<S>& tf2,
                                std::vector<ContactPoint<S>>* contacts);

template <typename S>
bool coneHalfspaceIntersect(const Cone<S>& s1, const Transform3<S>& tf1,
                            const Halfspace<S>& s2, const Transform3<S>& tf2,
                            std::vector<ContactPoint<S>>* contacts);

template <typename S>
bool convexHalfspaceIntersect(const Convex<S>& s1, const Transform3<S>& tf1,
                              const Halfspace<S>& s2, const Transform3<S>& tf2,
                              Vector3<S>* contact_points, S* penetration_depth, Vector3<S>* normal);

template <typename S>
bool halfspaceTriangleIntersect(const Halfspace<S>& s1, const Transform3<S>& tf1,
                                const Vector3<S>& P1, const Vector3<S>& P2, const Vector3<S>& P3, const Transform3<S>& tf2,
                                Vector3<S>* contact_points, S* penetration_depth, Vector3<S>* normal);

template <typename S>
bool planeHalfspaceIntersect(const Plane<S>& s1, const Transform3<S>& tf1,
                             const Halfspace<S>& s2, const Transform3<S>& tf2,
                             Plane<S>& pl,
                             Vector3<S>& p, Vector3<S>& d,
                             S& penetration_depth,
                             int& ret);

template <typename S>
bool halfspacePlaneIntersect(const Halfspace<S>& s1, const Transform3<S>& tf1,
                             const Plane<S>& s2, const Transform3<S>& tf2,
                             Plane<S>& pl, Vector3<S>& p, Vector3<S>& d,
                             S& penetration_depth,
                             int& ret);

template <typename S>
bool halfspaceIntersect(const Halfspace<S>& s1, const Transform3<S>& tf1,
                        const Halfspace<S>& s2, const Transform3<S>& tf2,
                        Vector3<S>& p, Vector3<S>& d,
                        Halfspace<S>& s,
                        S& penetration_depth,
                        int& ret);

} // namespace detail
} // namespace fcl

#include "fcl/narrowphase/detail/primitive_shape_algorithm/halfspace-inl.h"

#endif