continuous_collision_result.h

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#ifndef FCL_CONTINUOUSCOLLISIONRESULT_H
#define FCL_CONTINUOUSCOLLISIONRESULT_H

#include "fcl/common/types.h"

namespace fcl
{

template <typename S>
struct ContinuousCollisionResult
{
  bool is_collide;
  
  S time_of_contact;

  Transform3<S> contact_tf1;

  Transform3<S> contact_tf2;
  
  ContinuousCollisionResult();

  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

using ContinuousCollisionResultf = ContinuousCollisionResult<float>;
using ContinuousCollisionResultd = ContinuousCollisionResult<double>;

} // namespace fcl

#include "fcl/narrowphase/continuous_collision_result-inl.h"

#endif