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_