130   bool capsuleCapsuleDistance(const Capsule& s1, const Transform3f& tf1,  in capsuleCapsuleDistance()  argument
135     Vec3f p1(tf1.getTranslation());  in capsuleCapsuleDistance()
141     transformQ1 = tf1 * transformQ1;  in capsuleCapsuleDistance()
197 bool sphereCapsuleIntersect(const Sphere& s1, const Transform3f& tf1,   in sphereCapsuleIntersect()  argument
206   const Vec3f s_c = tf2_inv.transform(tf1.transform(Vec3f()));  in sphereCapsuleIntersect()
232 bool sphereCapsuleDistance(const Sphere& s1, const Transform3f& tf1,   in sphereCapsuleDistance()  argument
241   Vec3f s_c = tf2_inv.transform(tf1.transform(Vec3f()));  in sphereCapsuleDistance()
259     *p1 = inverse(tf1).transform(tf2.transform(*p1));  in sphereCapsuleDistance()
267 bool sphereSphereIntersect(const Sphere& s1, const Transform3f& tf1,  in sphereSphereIntersect()  argument
271   Vec3f diff = tf2.transform(Vec3f()) - tf1.transform(Vec3f());  in sphereSphereIntersect()
281     const Vec3f point = tf1.transform(Vec3f()) + diff * s1.radius / (s1.radius + s2.radius);  in sphereSphereIntersect()
289 bool sphereSphereDistance(const Sphere& s1, const Transform3f& tf1,  in sphereSphereDistance()  argument
293   Vec3f o1 = tf1.getTranslation();  in sphereSphereDistance()
300     if(p1) *p1 = inverse(tf1).transform(o1 - diff * (s1.radius / len));  in sphereSphereDistance()
719 bool sphereTriangleDistance(const Sphere& sp, const Transform3f& tf1,  in sphereTriangleDistance()  argument
723 …bool res = details::sphereTriangleDistance(sp, tf1, tf2.transform(P1), tf2.transform(P2), tf2.tran…  in sphereTriangleDistance()
1469 bool boxBoxIntersect(const Box& s1, const Transform3f& tf1,  in boxBoxIntersect()  argument
1477   /* int cnum = */ boxBox2(s1.side, tf1.getRotation(), tf1.getTranslation(),  in boxBoxIntersect()
1506 bool sphereHalfspaceIntersect(const Sphere& s1, const Transform3f& tf1,  in sphereHalfspaceIntersect()  argument
1511   const Vec3f& center = tf1.getTranslation();  in sphereHalfspaceIntersect()
1533 bool ellipsoidHalfspaceIntersect(const Ellipsoid& s1, const Transform3f& tf1,  in ellipsoidHalfspaceIntersect()  argument
1540   const Halfspace& new_s2 = transform(s2, inverse(tf1) * tf2);  in ellipsoidHalfspaceIntersect()
1556       const Vec3f normal = tf1.getRotation() * -new_s2.n; // pointing from s1 to s2  in ellipsoidHalfspaceIntersect()
1559 …const Vec3f point = tf1.transform(point_in_halfspace_coords); // roughly speaking, a middle point …  in ellipsoidHalfspaceIntersect()
1578 bool boxHalfspaceIntersect(const Box& s1, const Transform3f& tf1,   in boxHalfspaceIntersect()  argument
1583   const Matrix3f& R = tf1.getRotation();  in boxHalfspaceIntersect()
1584   const Vec3f& T = tf1.getTranslation();  in boxHalfspaceIntersect()
1595 bool boxHalfspaceIntersect(const Box& s1, const Transform3f& tf1,  in boxHalfspaceIntersect()  argument
1601     return boxHalfspaceIntersect(s1, tf1, s2, tf2);  in boxHalfspaceIntersect()
1607     const Matrix3f& R = tf1.getRotation();  in boxHalfspaceIntersect()
1608     const Vec3f& T = tf1.getTranslation();  in boxHalfspaceIntersect()
1664 bool capsuleHalfspaceIntersect(const Capsule& s1, const Transform3f& tf1,  in capsuleHalfspaceIntersect()  argument
1670   const Matrix3f& R = tf1.getRotation();  in capsuleHalfspaceIntersect()
1671   const Vec3f& T = tf1.getTranslation();  in capsuleHalfspaceIntersect()
1716 bool cylinderHalfspaceIntersect(const Cylinder& s1, const Transform3f& tf1,  in cylinderHalfspaceIntersect()  argument
1722   const Matrix3f& R = tf1.getRotation();  in cylinderHalfspaceIntersect()
1723   const Vec3f& T = tf1.getTranslation();  in cylinderHalfspaceIntersect()
1779 bool coneHalfspaceIntersect(const Cone& s1, const Transform3f& tf1,  in coneHalfspaceIntersect()  argument
1785   const Matrix3f& R = tf1.getRotation();  in coneHalfspaceIntersect()
1786   const Vec3f& T = tf1.getTranslation();  in coneHalfspaceIntersect()
1845 bool convexHalfspaceIntersect(const Convex& s1, const Transform3f& tf1,  in convexHalfspaceIntersect()  argument
1856     Vec3f p = tf1.transform(s1.points[i]);  in convexHalfspaceIntersect()
1877 bool halfspaceTriangleIntersect(const Halfspace& s1, const Transform3f& tf1,  in halfspaceTriangleIntersect()  argument
1881   Halfspace new_s1 = transform(s1, tf1);  in halfspaceTriangleIntersect()
1921 bool planeHalfspaceIntersect(const Plane& s1, const Transform3f& tf1,  in planeHalfspaceIntersect()  argument
1928   Plane new_s1 = transform(s1, tf1);  in planeHalfspaceIntersect()
1983 bool halfspaceIntersect(const Halfspace& s1, const Transform3f& tf1,  in halfspaceIntersect()  argument
1990   Halfspace new_s1 = transform(s1, tf1);  in halfspaceIntersect()
2058 bool spherePlaneIntersect(const Sphere& s1, const Transform3f& tf1,  in spherePlaneIntersect()  argument
2064   const Vec3f& center = tf1.getTranslation();  in spherePlaneIntersect()
2087 bool ellipsoidPlaneIntersect(const Ellipsoid& s1, const Transform3f& tf1,  in ellipsoidPlaneIntersect()  argument
2094   const Plane& new_s2 = transform(s2, inverse(tf1) * tf2);  in ellipsoidPlaneIntersect()
2112 …const Vec3f normal = (signed_dist > 0) ? tf1.getRotation() * -new_s2.n : tf1.getRotation() * new_s…  in ellipsoidPlaneIntersect()
2115 …const Vec3f point = (signed_dist > 0) ? tf1.transform(point_in_plane_coords) : tf1.transform(-poin…  in ellipsoidPlaneIntersect()
2136 bool boxPlaneIntersect(const Box& s1, const Transform3f& tf1,  in boxPlaneIntersect()  argument
2142   const Matrix3f& R = tf1.getRotation();  in boxPlaneIntersect()
2143   const Vec3f& T = tf1.getTranslation();  in boxPlaneIntersect()
2207 bool capsulePlaneIntersect(const Capsule& s1, const Transform3f& tf1,  in capsulePlaneIntersect()  argument
2212   const Matrix3f& R = tf1.getRotation();  in capsulePlaneIntersect()
2213   const Vec3f& T = tf1.getTranslation();  in capsulePlaneIntersect()
2230 bool capsulePlaneIntersect(const Capsule& s1, const Transform3f& tf1,  in capsulePlaneIntersect()  argument
2236     return capsulePlaneIntersect(s1, tf1, s2, tf2);  in capsulePlaneIntersect()
2242     const Matrix3f& R = tf1.getRotation();  in capsulePlaneIntersect()
2243     const Vec3f& T = tf1.getTranslation();  in capsulePlaneIntersect()
2329 bool cylinderPlaneIntersect(const Cylinder& s1, const Transform3f& tf1,  in cylinderPlaneIntersect()  argument
2334   const Matrix3f& R = tf1.getRotation();  in cylinderPlaneIntersect()
2335   const Vec3f& T = tf1.getTranslation();  in cylinderPlaneIntersect()
2349 bool cylinderPlaneIntersect(const Cylinder& s1, const Transform3f& tf1,  in cylinderPlaneIntersect()  argument
2355     return cylinderPlaneIntersect(s1, tf1, s2, tf2);  in cylinderPlaneIntersect()
2361     const Matrix3f& R = tf1.getRotation();  in cylinderPlaneIntersect()
2362     const Vec3f& T = tf1.getTranslation();  in cylinderPlaneIntersect()
2452 bool conePlaneIntersect(const Cone& s1, const Transform3f& tf1,  in conePlaneIntersect()  argument
2458   const Matrix3f& R = tf1.getRotation();  in conePlaneIntersect()
2459   const Vec3f& T = tf1.getTranslation();  in conePlaneIntersect()
2573 bool convexPlaneIntersect(const Convex& s1, const Transform3f& tf1,  in convexPlaneIntersect()  argument
2584     Vec3f p = tf1.transform(s1.points[i]);  in convexPlaneIntersect()
2613 bool planeTriangleIntersect(const Plane& s1, const Transform3f& tf1,  in planeTriangleIntersect()  argument
2617   Plane new_s1 = transform(s1, tf1);  in planeTriangleIntersect()
2691 bool halfspacePlaneIntersect(const Halfspace& s1, const Transform3f& tf1,  in halfspacePlaneIntersect()  argument
2697   return planeHalfspaceIntersect(s2, tf2, s1, tf1, pl, p, d, penetration_depth, ret);  in halfspacePlaneIntersect()
2700 bool planeIntersect(const Plane& s1, const Transform3f& tf1,  in planeIntersect()  argument
2704   Plane new_s1 = transform(s1, tf1);  in planeIntersect()
2751 bool GJKSolver_libccd::shapeIntersect<Sphere, Capsule>(const Sphere &s1, const Transform3f& tf1,  in shapeIntersect()  argument
2755   return details::sphereCapsuleIntersect(s1, tf1, s2, tf2, contacts);  in shapeIntersect()
2759 bool GJKSolver_libccd::shapeIntersect<Capsule, Sphere>(const Capsule &s1, const Transform3f& tf1,  in shapeIntersect()  argument
2763   const bool res = details::sphereCapsuleIntersect(s2, tf2, s1, tf1, contacts);  in shapeIntersect()
2769 bool GJKSolver_libccd::shapeIntersect<Sphere, Sphere>(const Sphere& s1, const Transform3f& tf1,  in shapeIntersect()  argument
2773   return details::sphereSphereIntersect(s1, tf1, s2, tf2, contacts);  in shapeIntersect()
2777 bool GJKSolver_libccd::shapeIntersect<Box, Box>(const Box& s1, const Transform3f& tf1,  in shapeIntersect()  argument
2781   return details::boxBoxIntersect(s1, tf1, s2, tf2, contacts);  in shapeIntersect()
2785 bool GJKSolver_libccd::shapeIntersect<Sphere, Halfspace>(const Sphere& s1, const Transform3f& tf1,  in shapeIntersect()  argument
2789   return details::sphereHalfspaceIntersect(s1, tf1, s2, tf2, contacts);  in shapeIntersect()
2793 …ol GJKSolver_libccd::shapeIntersect<Halfspace, Sphere>(const Halfspace& s1, const Transform3f& tf1,  in shapeIntersect()  argument
2797   const bool res = details::sphereHalfspaceIntersect(s2, tf2, s1, tf1, contacts);  in shapeIntersect()
2803 …GJKSolver_libccd::shapeIntersect<Ellipsoid, Halfspace>(const Ellipsoid& s1, const Transform3f& tf1,  in shapeIntersect()  argument
2807   return details::ellipsoidHalfspaceIntersect(s1, tf1, s2, tf2, contacts);  in shapeIntersect()
2811 …GJKSolver_libccd::shapeIntersect<Halfspace, Ellipsoid>(const Halfspace& s1, const Transform3f& tf1,  in shapeIntersect()  argument
2815   const bool res = details::ellipsoidHalfspaceIntersect(s2, tf2, s1, tf1, contacts);  in shapeIntersect()
2821 bool GJKSolver_libccd::shapeIntersect<Box, Halfspace>(const Box& s1, const Transform3f& tf1,  in shapeIntersect()  argument
2825   return details::boxHalfspaceIntersect(s1, tf1, s2, tf2, contacts);  in shapeIntersect()
2829 bool GJKSolver_libccd::shapeIntersect<Halfspace, Box>(const Halfspace& s1, const Transform3f& tf1,  in shapeIntersect()  argument
2833   const bool res = details::boxHalfspaceIntersect(s2, tf2, s1, tf1, contacts);  in shapeIntersect()
2839 bool GJKSolver_libccd::shapeIntersect<Capsule, Halfspace>(const Capsule& s1, const Transform3f& tf1,  in shapeIntersect()  argument
2843   return details::capsuleHalfspaceIntersect(s1, tf1, s2, tf2, contacts);  in shapeIntersect()
2847 …l GJKSolver_libccd::shapeIntersect<Halfspace, Capsule>(const Halfspace& s1, const Transform3f& tf1,  in shapeIntersect()  argument
2851   const bool res = details::capsuleHalfspaceIntersect(s2, tf2, s1, tf1, contacts);  in shapeIntersect()
2857 …l GJKSolver_libccd::shapeIntersect<Cylinder, Halfspace>(const Cylinder& s1, const Transform3f& tf1,  in shapeIntersect()  argument
2861   return details::cylinderHalfspaceIntersect(s1, tf1, s2, tf2, contacts);  in shapeIntersect()
2865 … GJKSolver_libccd::shapeIntersect<Halfspace, Cylinder>(const Halfspace& s1, const Transform3f& tf1,  in shapeIntersect()  argument
2869   const bool res = details::cylinderHalfspaceIntersect(s2, tf2, s1, tf1, contacts);  in shapeIntersect()
2875 bool GJKSolver_libccd::shapeIntersect<Cone, Halfspace>(const Cone& s1, const Transform3f& tf1,  in shapeIntersect()  argument
2879   return details::coneHalfspaceIntersect(s1, tf1, s2, tf2, contacts);  in shapeIntersect()
2883 bool GJKSolver_libccd::shapeIntersect<Halfspace, Cone>(const Halfspace& s1, const Transform3f& tf1,  in shapeIntersect()  argument
2887   const bool res = details::coneHalfspaceIntersect(s2, tf2, s1, tf1, contacts);  in shapeIntersect()
2893 …GJKSolver_libccd::shapeIntersect<Halfspace, Halfspace>(const Halfspace& s1, const Transform3f& tf1,  in shapeIntersect()  argument
2901   return details::halfspaceIntersect(s1, tf1, s2, tf2, p, d, s, depth, ret);  in shapeIntersect()
2905 bool GJKSolver_libccd::shapeIntersect<Plane, Halfspace>(const Plane& s1, const Transform3f& tf1,  in shapeIntersect()  argument
2913   return details::planeHalfspaceIntersect(s1, tf1, s2, tf2, pl, p, d, depth, ret);  in shapeIntersect()
2917 bool GJKSolver_libccd::shapeIntersect<Halfspace, Plane>(const Halfspace& s1, const Transform3f& tf1,  in shapeIntersect()  argument
2925   return details::halfspacePlaneIntersect(s1, tf1, s2, tf2, pl, p, d, depth, ret);  in shapeIntersect()
2929 bool GJKSolver_libccd::shapeIntersect<Sphere, Plane>(const Sphere& s1, const Transform3f& tf1,  in shapeIntersect()  argument
2933   return details::spherePlaneIntersect(s1, tf1, s2, tf2, contacts);  in shapeIntersect()
2937 bool GJKSolver_libccd::shapeIntersect<Plane, Sphere>(const Plane& s1, const Transform3f& tf1,  in shapeIntersect()  argument
2941   const bool res = details::spherePlaneIntersect(s2, tf2, s1, tf1, contacts);  in shapeIntersect()
2947 bool GJKSolver_libccd::shapeIntersect<Ellipsoid, Plane>(const Ellipsoid& s1, const Transform3f& tf1,  in shapeIntersect()  argument
2951   return details::ellipsoidPlaneIntersect(s1, tf1, s2, tf2, contacts);  in shapeIntersect()
2955 bool GJKSolver_libccd::shapeIntersect<Plane, Ellipsoid>(const Plane& s1, const Transform3f& tf1,  in shapeIntersect()  argument
2959   const bool res = details::ellipsoidPlaneIntersect(s2, tf2, s1, tf1, contacts);  in shapeIntersect()
2965 bool GJKSolver_libccd::shapeIntersect<Box, Plane>(const Box& s1, const Transform3f& tf1,  in shapeIntersect()  argument
2969   return details::boxPlaneIntersect(s1, tf1, s2, tf2, contacts);  in shapeIntersect()
2973 bool GJKSolver_libccd::shapeIntersect<Plane, Box>(const Plane& s1, const Transform3f& tf1,  in shapeIntersect()  argument
2977   const bool res = details::boxPlaneIntersect(s2, tf2, s1, tf1, contacts);  in shapeIntersect()
2983 bool GJKSolver_libccd::shapeIntersect<Capsule, Plane>(const Capsule& s1, const Transform3f& tf1,  in shapeIntersect()  argument
2987   return details::capsulePlaneIntersect(s1, tf1, s2, tf2, contacts);  in shapeIntersect()
2991 bool GJKSolver_libccd::shapeIntersect<Plane, Capsule>(const Plane& s1, const Transform3f& tf1,  in shapeIntersect()  argument
2995   const bool res = details::capsulePlaneIntersect(s2, tf2, s1, tf1, contacts);  in shapeIntersect()
3001 bool GJKSolver_libccd::shapeIntersect<Cylinder, Plane>(const Cylinder& s1, const Transform3f& tf1,  in shapeIntersect()  argument
3005   return details::cylinderPlaneIntersect(s1, tf1, s2, tf2, contacts);  in shapeIntersect()
3009 bool GJKSolver_libccd::shapeIntersect<Plane, Cylinder>(const Plane& s1, const Transform3f& tf1,  in shapeIntersect()  argument
3013   const bool res = details::cylinderPlaneIntersect(s2, tf2, s1, tf1, contacts);  in shapeIntersect()
3019 bool GJKSolver_libccd::shapeIntersect<Cone, Plane>(const Cone& s1, const Transform3f& tf1,  in shapeIntersect()  argument
3023   return details::conePlaneIntersect(s1, tf1, s2, tf2, contacts);  in shapeIntersect()
3027 bool GJKSolver_libccd::shapeIntersect<Plane, Cone>(const Plane& s1, const Transform3f& tf1,  in shapeIntersect()  argument
3031   const bool res = details::conePlaneIntersect(s2, tf2, s1, tf1, contacts);  in shapeIntersect()
3037 bool GJKSolver_libccd::shapeIntersect<Plane, Plane>(const Plane& s1, const Transform3f& tf1,  in shapeIntersect()  argument
3041   return details::planeIntersect(s1, tf1, s2, tf2, contacts);  in shapeIntersect()
3055 bool GJKSolver_libccd::shapeTriangleIntersect(const Sphere& s, const Transform3f& tf1,  in shapeTriangleIntersect()  argument
3058 …return details::sphereTriangleIntersect(s, tf1, tf2.transform(P1), tf2.transform(P2), tf2.transfor…  in shapeTriangleIntersect()
3062 bool GJKSolver_libccd::shapeTriangleIntersect(const Halfspace& s, const Transform3f& tf1,  in shapeTriangleIntersect()  argument
3065 …return details::halfspaceTriangleIntersect(s, tf1, P1, P2, P3, tf2, contact_points, penetration_de…  in shapeTriangleIntersect()
3069 bool GJKSolver_libccd::shapeTriangleIntersect(const Plane& s, const Transform3f& tf1,  in shapeTriangleIntersect()  argument
3072 …return details::planeTriangleIntersect(s, tf1, P1, P2, P3, tf2, contact_points, penetration_depth,…  in shapeTriangleIntersect()
3100 bool GJKSolver_libccd::shapeDistance<Sphere, Capsule>(const Sphere& s1, const Transform3f& tf1,  in shapeDistance()  argument
3104   return details::sphereCapsuleDistance(s1, tf1, s2, tf2, dist, p1, p2);  in shapeDistance()
3108 bool GJKSolver_libccd::shapeDistance<Capsule, Sphere>(const Capsule& s1, const Transform3f& tf1,  in shapeDistance()  argument
3112   return details::sphereCapsuleDistance(s2, tf2, s1, tf1, dist, p2, p1);  in shapeDistance()
3116 bool GJKSolver_libccd::shapeDistance<Sphere, Sphere>(const Sphere& s1, const Transform3f& tf1,  in shapeDistance()  argument
3120   return details::sphereSphereDistance(s1, tf1, s2, tf2, dist, p1, p2);  in shapeDistance()
3124 bool GJKSolver_libccd::shapeDistance<Capsule, Capsule>(const Capsule& s1, const Transform3f& tf1,  in shapeDistance()  argument
3128   return details::capsuleCapsuleDistance(s1, tf1, s2, tf2, dist, p1, p2);  in shapeDistance()
3143 bool GJKSolver_libccd::shapeTriangleDistance<Sphere>(const Sphere& s, const Transform3f& tf1,  in shapeTriangleDistance()  argument
3147   return details::sphereTriangleDistance(s, tf1, P1, P2, P3, tf2, dist, p1, p2);  in shapeTriangleDistance()
3175 bool GJKSolver_indep::shapeIntersect<Sphere, Capsule>(const Sphere &s1, const Transform3f& tf1,  in shapeIntersect()  argument
3179   return details::sphereCapsuleIntersect(s1, tf1, s2, tf2, contacts);  in shapeIntersect()
3183 bool GJKSolver_indep::shapeIntersect<Capsule, Sphere>(const Capsule &s1, const Transform3f& tf1,  in shapeIntersect()  argument
3187   const bool res = details::sphereCapsuleIntersect(s2, tf2, s1, tf1, contacts);  in shapeIntersect()
3193 bool GJKSolver_indep::shapeIntersect<Sphere, Sphere>(const Sphere& s1, const Transform3f& tf1,  in shapeIntersect()  argument
3197   return details::sphereSphereIntersect(s1, tf1, s2, tf2, contacts);  in shapeIntersect()
3201 bool GJKSolver_indep::shapeIntersect<Box, Box>(const Box& s1, const Transform3f& tf1,  in shapeIntersect()  argument
3205   return details::boxBoxIntersect(s1, tf1, s2, tf2, contacts);  in shapeIntersect()
3209 bool GJKSolver_indep::shapeIntersect<Sphere, Halfspace>(const Sphere& s1, const Transform3f& tf1,  in shapeIntersect()  argument
3213   return details::sphereHalfspaceIntersect(s1, tf1, s2, tf2, contacts);  in shapeIntersect()
3217 bool GJKSolver_indep::shapeIntersect<Halfspace, Sphere>(const Halfspace& s1, const Transform3f& tf1,  in shapeIntersect()  argument
3221   const bool res = details::sphereHalfspaceIntersect(s2, tf2, s1, tf1, contacts);  in shapeIntersect()
3227 … GJKSolver_indep::shapeIntersect<Ellipsoid, Halfspace>(const Ellipsoid& s1, const Transform3f& tf1,  in shapeIntersect()  argument
3231   return details::ellipsoidHalfspaceIntersect(s1, tf1, s2, tf2, contacts);  in shapeIntersect()
3235 … GJKSolver_indep::shapeIntersect<Halfspace, Ellipsoid>(const Halfspace& s1, const Transform3f& tf1,  in shapeIntersect()  argument
3239   const bool res = details::ellipsoidHalfspaceIntersect(s2, tf2, s1, tf1, contacts);  in shapeIntersect()
3245 bool GJKSolver_indep::shapeIntersect<Box, Halfspace>(const Box& s1, const Transform3f& tf1,  in shapeIntersect()  argument
3249   return details::boxHalfspaceIntersect(s1, tf1, s2, tf2, contacts);  in shapeIntersect()
3253 bool GJKSolver_indep::shapeIntersect<Halfspace, Box>(const Halfspace& s1, const Transform3f& tf1,  in shapeIntersect()  argument
3257   const bool res = details::boxHalfspaceIntersect(s2, tf2, s1, tf1, contacts);  in shapeIntersect()
3263 bool GJKSolver_indep::shapeIntersect<Capsule, Halfspace>(const Capsule& s1, const Transform3f& tf1,  in shapeIntersect()  argument
3267   return details::capsuleHalfspaceIntersect(s1, tf1, s2, tf2, contacts);  in shapeIntersect()
3271 …ol GJKSolver_indep::shapeIntersect<Halfspace, Capsule>(const Halfspace& s1, const Transform3f& tf1,  in shapeIntersect()  argument
3275   const bool res = details::capsuleHalfspaceIntersect(s2, tf2, s1, tf1, contacts);  in shapeIntersect()
3281 …ol GJKSolver_indep::shapeIntersect<Cylinder, Halfspace>(const Cylinder& s1, const Transform3f& tf1,  in shapeIntersect()  argument
3285   return details::cylinderHalfspaceIntersect(s1, tf1, s2, tf2, contacts);  in shapeIntersect()
3289 …l GJKSolver_indep::shapeIntersect<Halfspace, Cylinder>(const Halfspace& s1, const Transform3f& tf1,  in shapeIntersect()  argument
3293   const bool res = details::cylinderHalfspaceIntersect(s2, tf2, s1, tf1, contacts);  in shapeIntersect()
3299 bool GJKSolver_indep::shapeIntersect<Cone, Halfspace>(const Cone& s1, const Transform3f& tf1,  in shapeIntersect()  argument
3303   return details::coneHalfspaceIntersect(s1, tf1, s2, tf2, contacts);  in shapeIntersect()
3307 bool GJKSolver_indep::shapeIntersect<Halfspace, Cone>(const Halfspace& s1, const Transform3f& tf1,  in shapeIntersect()  argument
3311   const bool res = details::coneHalfspaceIntersect(s2, tf2, s1, tf1, contacts);  in shapeIntersect()
3317 … GJKSolver_indep::shapeIntersect<Halfspace, Halfspace>(const Halfspace& s1, const Transform3f& tf1,  in shapeIntersect()  argument
3325   return details::halfspaceIntersect(s1, tf1, s2, tf2, p, d, s, depth, ret);  in shapeIntersect()
3329 bool GJKSolver_indep::shapeIntersect<Plane, Halfspace>(const Plane& s1, const Transform3f& tf1,  in shapeIntersect()  argument
3337   return details::planeHalfspaceIntersect(s1, tf1, s2, tf2, pl, p, d, depth, ret);  in shapeIntersect()
3341 bool GJKSolver_indep::shapeIntersect<Halfspace, Plane>(const Halfspace& s1, const Transform3f& tf1,  in shapeIntersect()  argument
3349   return details::halfspacePlaneIntersect(s1, tf1, s2, tf2, pl, p, d, depth, ret);  in shapeIntersect()
3353 bool GJKSolver_indep::shapeIntersect<Sphere, Plane>(const Sphere& s1, const Transform3f& tf1,  in shapeIntersect()  argument
3357   return details::spherePlaneIntersect(s1, tf1, s2, tf2, contacts);  in shapeIntersect()
3361 bool GJKSolver_indep::shapeIntersect<Plane, Sphere>(const Plane& s1, const Transform3f& tf1,  in shapeIntersect()  argument
3365   const bool res = details::spherePlaneIntersect(s2, tf2, s1, tf1, contacts);  in shapeIntersect()
3371 bool GJKSolver_indep::shapeIntersect<Ellipsoid, Plane>(const Ellipsoid& s1, const Transform3f& tf1,  in shapeIntersect()  argument
3375   return details::ellipsoidPlaneIntersect(s1, tf1, s2, tf2, contacts);  in shapeIntersect()
3379 bool GJKSolver_indep::shapeIntersect<Plane, Ellipsoid>(const Plane& s1, const Transform3f& tf1,  in shapeIntersect()  argument
3383   const bool res = details::ellipsoidPlaneIntersect(s2, tf2, s1, tf1, contacts);  in shapeIntersect()
3389 bool GJKSolver_indep::shapeIntersect<Box, Plane>(const Box& s1, const Transform3f& tf1,  in shapeIntersect()  argument
3393   return details::boxPlaneIntersect(s1, tf1, s2, tf2, contacts);  in shapeIntersect()
3397 bool GJKSolver_indep::shapeIntersect<Plane, Box>(const Plane& s1, const Transform3f& tf1,  in shapeIntersect()  argument
3401   const bool res = details::boxPlaneIntersect(s2, tf2, s1, tf1, contacts);  in shapeIntersect()
3407 bool GJKSolver_indep::shapeIntersect<Capsule, Plane>(const Capsule& s1, const Transform3f& tf1,  in shapeIntersect()  argument
3411   return details::capsulePlaneIntersect(s1, tf1, s2, tf2, contacts);  in shapeIntersect()
3415 bool GJKSolver_indep::shapeIntersect<Plane, Capsule>(const Plane& s1, const Transform3f& tf1,  in shapeIntersect()  argument
3419   const bool res = details::capsulePlaneIntersect(s2, tf2, s1, tf1, contacts);  in shapeIntersect()
3425 bool GJKSolver_indep::shapeIntersect<Cylinder, Plane>(const Cylinder& s1, const Transform3f& tf1,  in shapeIntersect()  argument
3429   return details::cylinderPlaneIntersect(s1, tf1, s2, tf2, contacts);  in shapeIntersect()
3433 bool GJKSolver_indep::shapeIntersect<Plane, Cylinder>(const Plane& s1, const Transform3f& tf1,  in shapeIntersect()  argument
3437   const bool res = details::cylinderPlaneIntersect(s2, tf2, s1, tf1, contacts);  in shapeIntersect()
3443 bool GJKSolver_indep::shapeIntersect<Cone, Plane>(const Cone& s1, const Transform3f& tf1,  in shapeIntersect()  argument
3447   return details::conePlaneIntersect(s1, tf1, s2, tf2, contacts);  in shapeIntersect()
3451 bool GJKSolver_indep::shapeIntersect<Plane, Cone>(const Plane& s1, const Transform3f& tf1,  in shapeIntersect()  argument
3455   const bool res = details::conePlaneIntersect(s2, tf2, s1, tf1, contacts);  in shapeIntersect()
3461 bool GJKSolver_indep::shapeIntersect<Plane, Plane>(const Plane& s1, const Transform3f& tf1,  in shapeIntersect()  argument
3465   return details::planeIntersect(s1, tf1, s2, tf2, contacts);  in shapeIntersect()
3479 bool GJKSolver_indep::shapeTriangleIntersect(const Sphere& s, const Transform3f& tf1,  in shapeTriangleIntersect()  argument
3482 …return details::sphereTriangleIntersect(s, tf1, tf2.transform(P1), tf2.transform(P2), tf2.transfor…  in shapeTriangleIntersect()
3486 bool GJKSolver_indep::shapeTriangleIntersect(const Halfspace& s, const Transform3f& tf1,  in shapeTriangleIntersect()  argument
3489 …return details::halfspaceTriangleIntersect(s, tf1, P1, P2, P3, tf2, contact_points, penetration_de…  in shapeTriangleIntersect()
3493 bool GJKSolver_indep::shapeTriangleIntersect(const Plane& s, const Transform3f& tf1,  in shapeTriangleIntersect()  argument
3496 …return details::planeTriangleIntersect(s, tf1, P1, P2, P3, tf2, contact_points, penetration_depth,…  in shapeTriangleIntersect()
3524 bool GJKSolver_indep::shapeDistance<Sphere, Capsule>(const Sphere& s1, const Transform3f& tf1,  in shapeDistance()  argument
3528   return details::sphereCapsuleDistance(s1, tf1, s2, tf2, dist, p1, p2);  in shapeDistance()
3532 bool GJKSolver_indep::shapeDistance<Capsule, Sphere>(const Capsule& s1, const Transform3f& tf1,  in shapeDistance()  argument
3536   return details::sphereCapsuleDistance(s2, tf2, s1, tf1, dist, p2, p1);  in shapeDistance()
3540 bool GJKSolver_indep::shapeDistance<Sphere, Sphere>(const Sphere& s1, const Transform3f& tf1,  in shapeDistance()  argument
3544   return details::sphereSphereDistance(s1, tf1, s2, tf2, dist, p1, p2);  in shapeDistance()
3548 bool GJKSolver_indep::shapeDistance<Capsule, Capsule>(const Capsule& s1, const Transform3f& tf1,  in shapeDistance()  argument
3552   return details::capsuleCapsuleDistance(s1, tf1, s2, tf2, dist, p1, p2);  in shapeDistance()
3567 bool GJKSolver_indep::shapeTriangleDistance<Sphere>(const Sphere& s, const Transform3f& tf1,  in shapeTriangleDistance()  argument
3571   return details::sphereTriangleDistance(s, tf1, P1, P2, P3, tf2, dist, p1, p2);  in shapeTriangleDistance()