A class describing the kIOS collision structure, which is a set of spheres. More...
#include <kIOS.h>
Classes | |
| struct | kIOS_Sphere |
| One sphere in kIOS. More... | |
Public Member Functions | |
| const Vec3f & | center () const |
| Center of the kIOS. | |
| bool | contain (const Vec3f &p) const |
| Check whether the kIOS contains a point. | |
| FCL_REAL | depth () const |
| Depth of the kIOS. | |
| FCL_REAL | distance (const kIOS &other, Vec3f *P=NULL, Vec3f *Q=NULL) const |
| The distance between two kIOS. | |
| FCL_REAL | height () const |
| Height of the kIOS. | |
| kIOS | operator+ (const kIOS &other) const |
| Return the merged kIOS of current kIOS and the other one. | |
| kIOS & | operator+= (const Vec3f &p) |
| A simple way to merge the kIOS and a point. | |
| kIOS & | operator+= (const kIOS &other) |
| Merge the kIOS and another kIOS. | |
| bool | overlap (const kIOS &other) const |
| Check collision between two kIOS. | |
| bool | overlap (const kIOS &other, kIOS &overlap_part) const |
| Check collision between two kIOS and return the overlap part. For kIOS, we return nothing, as the overlappart of two kIOS usually is not an kIOS. | |
| FCL_REAL | size () const |
| size of the kIOS (used in BV_Splitter to order two kIOSs) | |
| FCL_REAL | volume () const |
| Volume of the kIOS. | |
| FCL_REAL | width () const |
| Width of the kIOS. | |
Public Attributes | |
| unsigned int | num_spheres |
| The number of spheres, no larger than 5. | |
| OBB | obb |
| @ OBB related with kIOS | |
| kIOS_Sphere | spheres [5] |
| The (at most) five spheres for intersection. | |
Static Private Member Functions | |
| static kIOS_Sphere | encloseSphere (const kIOS_Sphere &s0, const kIOS_Sphere &s1) |
| generate one sphere enclosing two spheres | |
A class describing the kIOS collision structure, which is a set of spheres.
| const Vec3f& fcl::kIOS::center | ( | ) | const [inline] |
| bool fcl::kIOS::contain | ( | const Vec3f & | p | ) | const [inline] |
| FCL_REAL fcl::kIOS::depth | ( | ) | const |
| FCL_REAL fcl::kIOS::distance | ( | const kIOS & | other, |
| Vec3f * | P = NULL, |
||
| Vec3f * | Q = NULL |
||
| ) | const |
| static kIOS_Sphere fcl::kIOS::encloseSphere | ( | const kIOS_Sphere & | s0, |
| const kIOS_Sphere & | s1 | ||
| ) | [inline, static, private] |
| FCL_REAL fcl::kIOS::height | ( | ) | const |
| bool fcl::kIOS::overlap | ( | const kIOS & | other | ) | const |
| bool fcl::kIOS::overlap | ( | const kIOS & | other, |
| kIOS & | overlap_part | ||
| ) | const [inline] |
| FCL_REAL fcl::kIOS::size | ( | ) | const |
| FCL_REAL fcl::kIOS::volume | ( | ) | const |
| FCL_REAL fcl::kIOS::width | ( | ) | const |
| unsigned int fcl::kIOS::num_spheres |
