FCL  0.6.0
Flexible Collision Library
collision_func_matrix.h
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35 
38 #ifndef FCL_COLLISION_FUNC_MATRIX_H
39 #define FCL_COLLISION_FUNC_MATRIX_H
40 
41 #include "fcl/geometry/collision_geometry.h"
42 #include "fcl/narrowphase/collision_request.h"
43 #include "fcl/narrowphase/collision_result.h"
44 
45 namespace fcl
46 {
47 
48 namespace detail
49 {
50 
53 template <typename NarrowPhaseSolver>
55 {
56  using S = typename NarrowPhaseSolver::S;
57 
67  using CollisionFunc = std::size_t (*)(
68  const CollisionGeometry<S>* o1,
69  const Transform3<S>& tf1,
70  const CollisionGeometry<S>* o2,
71  const Transform3<S>& tf2,
72  const NarrowPhaseSolver* nsolver,
73  const CollisionRequest<S>& request,
75 
78  CollisionFunc collision_matrix[NODE_COUNT][NODE_COUNT];
79 
81 };
82 
83 } // namespace detail
84 } // namespace fcl
85 
86 #include "fcl/narrowphase/detail/collision_func_matrix-inl.h"
87 
88 #endif
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
collision result
Definition: collision_request.h:48
std::size_t(*)(const CollisionGeometry< S > *o1, const Transform3< S > &tf1, const CollisionGeometry< S > *o2, const Transform3< S > &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest< S > &request, CollisionResult< S > &result) CollisionFunc
the uniform call interface for collision: for collision, we need know
Definition: collision_func_matrix.h:74
The geometry for the object for collision or distance computation.
Definition: collision_geometry.h:59
request to the collision algorithm
Definition: collision_request.h:52
collision matrix stores the functions for collision between different types of objects and provides a...
Definition: collision_func_matrix.h:54
CollisionFunc collision_matrix[NODE_COUNT][NODE_COUNT]
each item in the collision matrix is a function to handle collision between objects of type1 and type...
Definition: collision_func_matrix.h:78