contact_point.h

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#ifndef FCL_CONTACTPOINT_H
#define FCL_CONTACTPOINT_H

#include "fcl/common/types.h"

namespace fcl
{

template <typename S>
struct ContactPoint
{
  Vector3<S> normal;

  Vector3<S> pos;

  S penetration_depth;

  ContactPoint();

  ContactPoint(const Vector3<S>& n_, const Vector3<S>& p_, S d_);
};

using ContactPointf = ContactPoint<float>;
using ContactPointd = ContactPoint<double>;

template <typename S>
bool comparePenDepth(
    const ContactPoint<S>& _cp1, const ContactPoint<S>& _cp2);

template <typename S>
void flipNormal(std::vector<ContactPoint<S>>& contacts);

} // namespace fcl

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

#endif