fcl::kIOS< S_ > Class Template Reference

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 Types
using	S = S_

Public Member Functions
const Vector3< S > &	center () const
	Center of the kIOS. More...
bool	contain (const Vector3< S > &p) const
	Check whether the kIOS contains a point. More...
S	depth () const
	Depth of the kIOS. More...
S	distance (const kIOS< S > &other, Vector3< S > *P=nullptr, Vector3< S > *Q=nullptr) const
	The distance between two kIOS. More...
S	height () const
	Height of the kIOS. More...
kIOS< S >	operator+ (const kIOS< S > &other) const
	Return the merged kIOS of current kIOS and the other one. More...
kIOS< S > &	operator+= (const kIOS< S > &other)
	Merge the kIOS and another kIOS. More...
kIOS< S > &	operator+= (const Vector3< S > &p)
	A simple way to merge the kIOS and a point. More...
bool	overlap (const kIOS< S > &other) const
	Check collision between two kIOS. More...
bool	overlap (const kIOS< S > &other, kIOS< S > &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. More...
S	size () const
	size of the kIOS (used in BV_Splitter to order two kIOSs) More...
S	volume () const
	Volume of the kIOS. More...
S	width () const
	Width of the kIOS. More...

Static Public Member Functions
static S	cosA ()
static constexpr S	invSinA ()
static constexpr S	ratio ()

Public Attributes
unsigned int	num_spheres
	The number of spheres, no larger than 5. More...
OBB< S >	obb
	OBB related with kIOS. More...
kIOS_Sphere	spheres [5]
	The (at most) five spheres for intersection. More...

Static Private Member Functions
static kIOS_Sphere	encloseSphere (const kIOS_Sphere &s0, const kIOS_Sphere &s1)
	generate one sphere enclosing two spheres More...

Detailed Description

template<typename S_>
class fcl::kIOS< S_ >

A class describing the kIOS collision structure, which is a set of spheres.

Definition at line 48 of file kIOS.h.

Member Typedef Documentation

S

template<typename S_ >

using fcl::kIOS< S_ >::S = S_

Definition at line 63 of file kIOS.h.

Member Function Documentation

center()

template<typename S >

const Vector3< S > & fcl::kIOS< S >::center

Center of the kIOS.

Definition at line 166 of file kIOS-inl.h.

contain()

template<typename S >

bool fcl::kIOS< S >::contain

(

const Vector3< S > &

p

)

const

Check whether the kIOS contains a point.

Definition at line 108 of file kIOS-inl.h.

cosA()

template<typename S_ >

static S fcl::kIOS< S_ >::cosA ( )

inlinestatic

Definition at line 121 of file kIOS.h.

depth()

template<typename S >

S fcl::kIOS< S >::depth

Depth of the kIOS.

Definition at line 187 of file kIOS-inl.h.

distance()

template<typename S >

S fcl::kIOS< S >::distance	(	const kIOS< S > &	other,
		Vector3< S > *	P = nullptr,
		Vector3< S > *	Q = nullptr
	)		const

The distance between two kIOS.

Definition at line 208 of file kIOS-inl.h.

encloseSphere()

template<typename S_ >

kIOS< S >::kIOS_Sphere fcl::kIOS< S >::encloseSphere ( const kIOS_Sphere &  s0, const kIOS_Sphere &  s1  )

staticprivate

generate one sphere enclosing two spheres

The sphere with the larger radius encloses the other

spheres partially overlapping or disjoint

Definition at line 52 of file kIOS-inl.h.

height()

template<typename S >

S fcl::kIOS< S >::height

Height of the kIOS.

Definition at line 180 of file kIOS-inl.h.

invSinA()

template<typename S_ >

static constexpr S fcl::kIOS< S_ >::invSinA ( )

inlinestaticconstexpr

Definition at line 120 of file kIOS.h.

operator+()

template<typename S >

kIOS< S > fcl::kIOS< S >::operator+

(

const kIOS< S > &

other

)

const

Return the merged kIOS of current kIOS and the other one.

Definition at line 148 of file kIOS-inl.h.

operator+=() [1/2]

template<typename S >

kIOS< S > & fcl::kIOS< S >::operator+=

(

const kIOS< S > &

other

)

Merge the kIOS and another kIOS.

Definition at line 140 of file kIOS-inl.h.

operator+=() [2/2]

template<typename S >

kIOS< S > & fcl::kIOS< S >::operator+=

(

const Vector3< S > &

p

)

A simple way to merge the kIOS and a point.

Definition at line 122 of file kIOS-inl.h.

overlap() [1/2]

template<typename S >

bool fcl::kIOS< S >::overlap

(

const kIOS< S > &

other

)

const

Check collision between two kIOS.

Definition at line 80 of file kIOS-inl.h.

overlap() [2/2]

template<typename S >

bool fcl::kIOS< S >::overlap	(	const kIOS< S > &	other,
		kIOS< S > &	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.

Todo:

Not efficient. It first checks the sphere collisions and then use OBB for further culling.

Definition at line 100 of file kIOS-inl.h.

ratio()

template<typename S_ >

static constexpr S fcl::kIOS< S_ >::ratio ( )

inlinestaticconstexpr

Definition at line 119 of file kIOS.h.

size()

template<typename S >

S fcl::kIOS< S >::size

size of the kIOS (used in BV_Splitter to order two kIOSs)

Definition at line 201 of file kIOS-inl.h.

volume()

template<typename S >

S fcl::kIOS< S >::volume

Volume of the kIOS.

Definition at line 194 of file kIOS-inl.h.

width()

template<typename S >

S fcl::kIOS< S >::width

Width of the kIOS.

Definition at line 173 of file kIOS-inl.h.

Member Data Documentation

num_spheres

template<typename S_ >

unsigned int fcl::kIOS< S_ >::num_spheres

The number of spheres, no larger than 5.

Definition at line 69 of file kIOS.h.

obb

template<typename S_ >

OBB<S> fcl::kIOS< S_ >::obb

OBB related with kIOS.

Definition at line 72 of file kIOS.h.

spheres

template<typename S_ >

kIOS_Sphere fcl::kIOS< S_ >::spheres[5]

The (at most) five spheres for intersection.

Definition at line 66 of file kIOS.h.

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The documentation for this class was generated from the following files:

• kIOS.h
• kIOS-inl.h