simple-fcl

simple-fcl implements Rust bindings for a subset of FCL functionality.

Usage

You can add the crate to your project with:

[dependencies]
simple-fcl = "0.0.3"

Usage examples are provided in the documentation.

The package requires you to install FCL for it to work. You can, for example, do this on Ubuntu with:

sudo apt-get install libfcl-dev

License

rust-simple-fcl is distributed under the MIT license.

lib.rs:

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());