distance_request.h

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#ifndef FCL_DISTANCEREQUEST_H
#define FCL_DISTANCEREQUEST_H

#include "fcl/common/types.h"
#include "fcl/narrowphase/gjk_solver_type.h"

namespace fcl
{

template <typename S>
struct DistanceResult;

template <typename S>
struct DistanceRequest
{
  bool enable_nearest_points;

  S rel_err; // relative error, between 0 and 1
  S abs_err; // absoluate error

  GJKSolverType gjk_solver_type;

  DistanceRequest(bool enable_nearest_points_ = false,
                  S rel_err_ = 0.0,
                  S abs_err_ = 0.0,
                  GJKSolverType gjk_solver_type_ = GST_LIBCCD);

  bool isSatisfied(const DistanceResult<S>& result) const;
};

using DistanceRequestf = DistanceRequest<float>;
using DistanceRequestd = DistanceRequest<double>;

} // namespace fcl

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

#endif