/usr/include/fcl/continuous_collision.h is in libfcl-dev 0.5.0-5.
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 | #ifndef FCL_CONTINUOUS_COLLISION_H
#define FCL_CONTINUOUS_COLLISION_H
#include "fcl/math/vec_3f.h"
#include "fcl/collision_object.h"
#include "fcl/collision_data.h"
namespace fcl
{
/// @brief continous collision checking between two objects
FCL_REAL continuousCollide(const CollisionGeometry* o1, const Transform3f& tf1_beg, const Transform3f& tf1_end,
const CollisionGeometry* o2, const Transform3f& tf2_beg, const Transform3f& tf2_end,
const ContinuousCollisionRequest& request,
ContinuousCollisionResult& result);
FCL_REAL continuousCollide(const CollisionObject* o1, const Transform3f& tf1_end,
const CollisionObject* o2, const Transform3f& tf2_end,
const ContinuousCollisionRequest& request,
ContinuousCollisionResult& result);
FCL_REAL collide(const ContinuousCollisionObject* o1, const ContinuousCollisionObject* o2,
const ContinuousCollisionRequest& request,
ContinuousCollisionResult& result);
}
#endif
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