A class describing the kIOS collision structure, which is a set of spheres.
Public Functions
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inline bool operator==(const kIOS &other) const
Equality operator.
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inline bool operator!=(const kIOS &other) const
Difference operator.
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bool contain(const Vec3f &p) const
Check whether the kIOS contains a point.
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bool overlap(const kIOS &other) const
Check collision between two kIOS.
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bool overlap(const kIOS &other, const CollisionRequest&, FCL_REAL &sqrDistLowerBound) const
Check collision between two kIOS.
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FCL_REAL distance(const kIOS &other, Vec3f *P = NULL, Vec3f *Q = NULL) const
The distance between two kIOS.
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kIOS &operator+=(const Vec3f &p)
A simple way to merge the kIOS and a point.
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inline kIOS &operator+=(const kIOS &other)
Merge the kIOS and another kIOS.
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kIOS operator+(const kIOS &other) const
Return the merged kIOS of current kIOS and the other one.
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FCL_REAL size() const
size of the kIOS (used in BV_Splitter to order two kIOSs)
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inline const Vec3f ¢er() const
Center of the kIOS.
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FCL_REAL width() const
Width of the kIOS.
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FCL_REAL height() const
Height of the kIOS.
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FCL_REAL depth() const
Depth of the kIOS.
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FCL_REAL volume() const
Volume of the kIOS.
Public Members
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kIOS_Sphere spheres[5]
The (at most) five spheres for intersection.
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unsigned int num_spheres
The number of spheres, no larger than 5.
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OBB obb
@ OBB related with kIOS