/usr/include/fcl/collision.h is in libfcl-dev 0.5.0-5.
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* Software License Agreement (BSD License)
*
* Copyright (c) 2011-2014, Willow Garage, Inc.
* Copyright (c) 2014-2016, Open Source Robotics Foundation
* All rights reserved.
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* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
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/** \author Jia Pan */
#ifndef FCL_COLLISION_H
#define FCL_COLLISION_H
#include "fcl/math/vec_3f.h"
#include "fcl/collision_object.h"
#include "fcl/collision_data.h"
namespace fcl
{
/// @brief Main collision interface: given two collision objects, and the requirements for contacts, including num of max contacts, whether perform exhaustive collision (i.e., returning
/// returning all the contact points), whether return detailed contact information (i.e., normal, contact point, depth; otherwise only contact primitive id is returned), this function
/// performs the collision between them.
/// Return value is the number of contacts generated between the two objects.
std::size_t collide(const CollisionObject* o1, const CollisionObject* o2,
const CollisionRequest& request,
CollisionResult& result);
std::size_t collide(const CollisionGeometry* o1, const Transform3f& tf1,
const CollisionGeometry* o2, const Transform3f& tf2,
const CollisionRequest& request,
CollisionResult& result);
}
#endif
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