From 1fea9f3f4689185fd98aa32d8ec9228c7e01d398 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Wed, 13 Aug 2014 17:02:00 +0200
Subject: [PATCH] Add documentation.
---
include/fcl/narrowphase/gjk_libccd.h | 6 ++++++
1 file changed, 6 insertions(+)
diff --git a/include/fcl/narrowphase/gjk_libccd.h b/include/fcl/narrowphase/gjk_libccd.h
index c5c7f09a..dd3ca349 100644
--- a/include/fcl/narrowphase/gjk_libccd.h
+++ b/include/fcl/narrowphase/gjk_libccd.h
@@ -158,6 +158,12 @@ bool GJKCollide(void* obj1, ccd_support_fn supp1, ccd_center_fn cen1,
unsigned int max_iterations, FCL_REAL tolerance,
Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal);
+/// Distance computation between objects using GJK algorithm
+/// \param obj1, obj2 objects to compute the distance between,
+/// \param supp1, supp2, support functions of each object,
+/// \retval p1, p2 closest points on objects in global frame,
+/// \retval dist distance between objects,
+/// \return whether distance is non negative (no collision).
bool GJKDistance(void* obj1, ccd_support_fn supp1,
void* obj2, ccd_support_fn supp2,
unsigned int max_iterations, FCL_REAL tolerance,
--
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