RapidCollisionDetection.h

Go to the documentation of this file.

#ifndef PMPL_RAPID_COLLISION_DETECTION_H_
#define PMPL_RAPID_COLLISION_DETECTION_H_
 
#include "CollisionDetectionMethod.h"
 
#include <mutex>
 
class GMSPolyhedron;
class RAPID_model;
 
 
class Rapid : public CollisionDetectionMethod {
 
  public:
 
 
    Rapid();
 
    virtual ~Rapid();
 
 
    static RAPID_model* Build(const GMSPolyhedron& _polyhedron);
 
 
    virtual bool IsInCollision(
        const GMSPolyhedron& _polyhedron1, const mathtool::Transformation& _t1,
        const GMSPolyhedron& _polyhedron2, const mathtool::Transformation& _t2,
        CDInfo& _cdInfo) override;
 
 
  private:
 
 
    static std::mutex s_lock; 
 
 
};
 
#endif