5 #ifndef CNOID_COLLISION_COLDET_MODEL_PAIR_H_INCLUDED
6 #define CNOID_COLLISION_COLDET_MODEL_PAIR_H_INCLUDED
11 #include <cnoid/Referenced>
31 return detectCollisionsSub(
true);
35 return collisionPairInserter.cdContact;
39 collisionPairInserter.cdContact.clear();
43 return !detectCollisionsSub(
false).empty();
46 double computeDistance(
double *point0,
double *point1);
52 double computeDistance(
int& out_triangle0,
double* out_point0,
int& out_triangle1,
double* out_point1);
54 bool detectIntersection();
58 tolerance_ = tolerance;
62 std::vector<collision_data>& detectCollisionsSub(
bool detectAllContacts);
63 bool detectMeshMeshCollisions(
bool detectAllContacts);
64 bool detectPlaneCylinderCollisions(
bool detectAllContacts);