distance_func_matrix.h

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#ifndef FCL_DISTANCE_FUNC_MATRIX_H
#define FCL_DISTANCE_FUNC_MATRIX_H

#include "fcl/geometry/collision_geometry.h"
#include "fcl/narrowphase/distance_request.h"
#include "fcl/narrowphase/distance_result.h"

namespace fcl
{

namespace detail
{

template <typename NarrowPhaseSolver>
struct DistanceFunctionMatrix
{
  using S = typename NarrowPhaseSolver::S;

  using DistanceFunc = S (*)(
      const CollisionGeometry<S>* o1,
      const Transform3<S>& tf1,
      const CollisionGeometry<S>* o2,
      const Transform3<S>& tf2,
      const NarrowPhaseSolver* nsolver,
      const DistanceRequest<S>& request,
      DistanceResult<S>& result);
  
  DistanceFunc distance_matrix[NODE_COUNT][NODE_COUNT];

  DistanceFunctionMatrix();
};

} // namespace detail
} // namespace fcl

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

#endif