Crate simple_fcl

Library for using FCL to do collision and distance checks between meshes

Examples

let mut model_builder_a = simple_fcl::ModelBuilder::default();
model_builder_a.add_triangle(
    simple_fcl::Vec3f::new(10.0, 0.0, 0.0),
    simple_fcl::Vec3f::new(0.0, 0.0, 1.0),
    simple_fcl::Vec3f::new(0.0, 0.0, -1.0),
);
let model_a = model_builder_a.build();

let mut model_builder_b = simple_fcl::ModelBuilder::default();
model_builder_b.add_triangle(
    simple_fcl::Vec3f::new(5.0, -10.0, -10.0),
    simple_fcl::Vec3f::new(5.0, -10.0, 10.0),
    simple_fcl::Vec3f::new(5.0, 10.0, 0.0),
);
let model_b = model_builder_b.build();

let rotation_none = simple_fcl::Rotation3f::identity();
let translation_none = simple_fcl::Translation3f::new(0.0, 0.0, 0.0);

assert!(simple_fcl::collide(
    &model_a,
    &rotation_none,
    &translation_none,
    &model_b,
    &rotation_none,
    &translation_none,
));

assert!(simple_fcl::distance(
    &model_a,
    &rotation_none,
    &translation_none,
    &model_b,
    &rotation_none,
    &translation_none,
    &simple_fcl::DistanceOptions::default(),
).is_none());

Reexports

pub extern crate nalgebra;

pub extern crate simple_fcl_sys as raw;

Structs

DistanceOptions	Options for distance check.
DistancePoints	Structure that holds the distance between objects, together with the points between which this distance is achieved.
Model	Model created by model builder, used for collision and distance checks.
ModelBuilder	Builds models out of passed triangles.

Functions

collide	Perform collision check between two models transformed in space.
distance	Perform distance check between two models transformed in space.
distance_points	Determine closest points between two models transformed in space.

Type Definitions

Rotation3f	Holds data for rotations
Translation3f	Holds data for translations
Vec3f	Holds data for one point