FCL  0.6.0
Flexible Collision Library
collision_node.h
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35 
38 #ifndef FCL_COLLISION_NODE_H
39 #define FCL_COLLISION_NODE_H
40 
41 #include "fcl/geometry/bvh/detail/BVH_front.h"
42 #include "fcl/narrowphase/detail/traversal/traversal_recurse.h"
43 #include "fcl/narrowphase/detail/traversal/collision/collision_traversal_node_base.h"
44 #include "fcl/narrowphase/detail/traversal/collision/mesh_collision_traversal_node.h"
45 #include "fcl/narrowphase/detail/traversal/distance/distance_traversal_node_base.h"
46 
48 namespace fcl
49 {
50 
51 namespace detail
52 {
53 
55 template <typename S>
56 void collide(CollisionTraversalNodeBase<S>* node, BVHFrontList* front_list = nullptr);
57 
59 template <typename S>
60 void selfCollide(CollisionTraversalNodeBase<S>* node, BVHFrontList* front_list = nullptr);
61 
63 template <typename S>
64 void distance(DistanceTraversalNodeBase<S>* node, BVHFrontList* front_list = nullptr, int qsize = 2);
65 
67 template <typename S>
68 void collide2(MeshCollisionTraversalNodeOBB<S>* node, BVHFrontList* front_list = nullptr);
69 
71 template <typename S>
72 void collide2(MeshCollisionTraversalNodeRSS<S>* node, BVHFrontList* front_list = nullptr);
73 
74 } // namespace detail
75 } // namespace fcl
76 
77 #include "fcl/narrowphase/detail/traversal/collision_node-inl.h"
78 
79 #endif
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
S distance(const Eigen::MatrixBase< DerivedA > &R0, const Eigen::MatrixBase< DerivedB > &T0, const kIOS< S > &b1, const kIOS< S > &b2, Vector3< S > *P, Vector3< S > *Q)
Approximate distance between two kIOS bounding volumes.
Definition: kIOS-inl.h:266