cd_fcl.h

Go to the documentation of this file.

#ifndef CD_FCLH
#define CD_FCLH

#if _HAVE_FCL

#ifdef __cplusplus
extern "C" {
#endif
  #include "htransform.h"
  #include "boolean.h"
#ifdef __cplusplus
}
#endif

#ifdef __cplusplus
extern "C" {
#endif

  #define FCL_SPHERE   0

  #define FCL_CYLINDER 1

  #define FCL_MESH     2

  void *DefineFCLSphere(double r);

  void *DefineFCLCylinder(double r,double l);

  void *DefineFCLMesh(unsigned int nv,double **v,unsigned int nf,unsigned int *nvf,unsigned int **fv);

  boolean FCLTest(boolean info,
                  void *h1,THTransform *tr1,
                  void *h2,THTransform *tr2,
                  double *point,double *normal);

  boolean FCLCTest(void *h1,THTransform *tr1,THTransform *tr2,
                   void *h2,THTransform *tr3,THTransform *tr4);

  void DeleteFCLObject(void *h);

#ifdef __cplusplus
}
#endif

#endif

#endif