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16 #ifndef SURGSIM_COLLISION_SEGMENTSEGMENTCCDSTATICCONTACT_H
17 #define SURGSIM_COLLISION_SEGMENTSEGMENTCCDSTATICCONTACT_H
60 const std::array<SurgSim::Math::Vector3d, 2>& p,
61 const std::array<SurgSim::Math::Vector3d, 2>& q,
62 double distanceEpsilon,
63 double* r,
double* s);
75 const std::array<SurgSim::Math::Vector3d, 2>& p,
76 const std::array<SurgSim::Math::Vector3d, 2>& q,
77 double radiusP,
double radiusQ,
78 double* r,
double* s);
90 const std::array<SurgSim::Math::Vector3d, 2>& p,
91 double thicknessPoint,
double thicknessSegment,
119 double r,
double s,
double ratio)
const;
141 double ratio,
double* r,
double* s)
const;
166 #endif // SURGSIM_COLLISION_SEGMENTSEGMENTCCDSTATICCONTACT_H
Definitions of small fixed-size vector types.
Eigen::Matrix< double, 3, 1 > Vector3d
A 3D vector of doubles.
Definition: Vector.h:57
Definition: CompoundShapeToGraphics.cpp:30