DARTCollide.hpp

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#ifndef DART_COLLISION_DART_DARTCOLLIDE_HPP_
#define DART_COLLISION_DART_DARTCOLLIDE_HPP_
 
#include <vector>
#include <Eigen/Dense>
#include "dart/collision/CollisionDetector.hpp"
 
namespace dart {
namespace collision {
 
int collide(CollisionObject* o1, CollisionObject* o2, CollisionResult& result);
 
int collideBoxBox(
    CollisionObject* o1,
    CollisionObject* o2,
    const Eigen::Vector3d& size0,
    const Eigen::Isometry3d& T0,
    const Eigen::Vector3d& size1,
    const Eigen::Isometry3d& T1,
    CollisionResult& result);
 
int collideBoxSphere(
    CollisionObject* o1,
    CollisionObject* o2,
    const Eigen::Vector3d& size0,
    const Eigen::Isometry3d& T0,
    const double& r1,
    const Eigen::Isometry3d& T1,
    CollisionResult& result);
 
int collideSphereBox(
    CollisionObject* o1,
    CollisionObject* o2,
    const double& r0,
    const Eigen::Isometry3d& T0,
    const Eigen::Vector3d& size1,
    const Eigen::Isometry3d& T1,
    CollisionResult& result);
 
int collideSphereSphere(
    CollisionObject* o1,
    CollisionObject* o2,
    const double& r0,
    const Eigen::Isometry3d& c0,
    const double& r1,
    const Eigen::Isometry3d& c1,
    CollisionResult& result);
 
int collideCylinderSphere(
    CollisionObject* o1,
    CollisionObject* o2,
    const double& cyl_rad,
    const double& half_height,
    const Eigen::Isometry3d& T0,
    const double& sphere_rad,
    const Eigen::Isometry3d& T1,
    CollisionResult& result);
 
int collideCylinderPlane(
    CollisionObject* o1,
    CollisionObject* o2,
    const double& cyl_rad,
    const double& half_height,
    const Eigen::Isometry3d& T0,
    const Eigen::Vector3d& plane_normal,
    const Eigen::Isometry3d& T1,
    CollisionResult& result);
 
} // namespace collision
} // namespace dart
 
#endif // DART_COLLISION_DART_DARTCOLLIDE_HPP_