distance_func_matrix.h

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#ifndef COAL_DISTANCE_FUNC_MATRIX_H
#define COAL_DISTANCE_FUNC_MATRIX_H

#include "coal/collision_object.h"
#include "coal/collision_data.h"
#include "coal/narrowphase/narrowphase.h"

namespace coal {

struct COAL_DLLAPI DistanceFunctionMatrix {
 typedef CoalScalar (*DistanceFunc)(const CollisionGeometry* o1,
 const Transform3s& tf1,
 const CollisionGeometry* o2,
 const Transform3s& tf2,
 const GJKSolver* nsolver,
 const DistanceRequest& request,
 DistanceResult& result);

 DistanceFunc distance_matrix[NODE_COUNT][NODE_COUNT];

 DistanceFunctionMatrix();
};

} // namespace coal

#endif