collision.h

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#ifndef FCL_COLLISION_H
#define FCL_COLLISION_H

#include "fcl/narrowphase/collision_object.h"
#include "fcl/narrowphase/collision_request.h"
#include "fcl/narrowphase/collision_result.h"

namespace fcl
{

template <typename S>
std::size_t collide(const CollisionObject<S>* o1, const CollisionObject<S>* o2,
                    const CollisionRequest<S>& request,
                    CollisionResult<S>& result);

template <typename S>
std::size_t collide(const CollisionGeometry<S>* o1, const Transform3<S>& tf1,
                    const CollisionGeometry<S>* o2, const Transform3<S>& tf2,
                    const CollisionRequest<S>& request,
                    CollisionResult<S>& result);

} // namespace fcl

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

#endif