], quat[1], quat[2], quat[3]);</div>
<div class="line"> </div>
<div class="line">    <span class="comment">// contact detection and resolution</span></div>
<div class="line">    cnt_solver.<a id="a15" name="a15"></a><a class="code hl_function" href="classnetdem_1_1_solver_boolean_p_p.html#a95d5fd4728888e1179367b180757859b">Init</a>(&amp;obj_p1, &amp;obj_p2);</div>
<div class="line">    <span class="keywordtype">bool</span> cnt_flag = cnt_solver.<a id="a16" name="a16"></a><a class="code hl_function" href="cl