FCL  0.6.0
Flexible Collision Library
sphere_sphere.h
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35 
38 #ifndef FCL_NARROWPHASE_DETAIL_SPHERESPHERE_H
39 #define FCL_NARROWPHASE_DETAIL_SPHERESPHERE_H
40 
41 #include "fcl/geometry/shape/sphere.h"
42 #include "fcl/narrowphase/contact_point.h"
43 
44 namespace fcl
45 {
46 
47 namespace detail
48 {
49 
50 template <typename S>
51 bool sphereSphereIntersect(const Sphere<S>& s1, const Transform3<S>& tf1,
52  const Sphere<S>& s2, const Transform3<S>& tf2,
53  std::vector<ContactPoint<S>>* contacts);
54 
55 template <typename S>
56 bool sphereSphereDistance(const Sphere<S>& s1, const Transform3<S>& tf1,
57  const Sphere<S>& s2, const Transform3<S>& tf2,
58  S* dist, Vector3<S>* p1, Vector3<S>* p2);
59 
60 } // namespace detail
61 } // namespace fcl
62 
63 #include "fcl/narrowphase/detail/primitive_shape_algorithm/sphere_sphere-inl.h"
64 
65 #endif
Main namespace.
Definition: broadphase_bruteforce-inl.h:45