polysolver.h

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#ifndef FCL_NARROWPHASE_DETAIL_POLYSOLVER_H
#define FCL_NARROWPHASE_DETAIL_POLYSOLVER_H

namespace fcl
{

namespace detail {

template <typename S>
class PolySolver
{
public:
  static int solveLinear(S c[2], S s[1]);

  static int solveQuadric(S c[3], S s[2]);

  static int solveCubic(S c[4], S s[3]);

private:
  static bool isZero(S v);

  static bool cbrt(S v);

  static constexpr S getNearZeroThreshold();
};

using PolySolverf = PolySolver<float>;
using PolySolverd = PolySolver<double>;

} // namespace detail
} // namespace fcl

#include "fcl/math/detail/polysolver-inl.h"

#endif