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. More... | |
| bool | contain (const Vec3f &p) const |
| Check whether the kIOS contains a point. More... | |
| FCL_REAL | depth () const |
| Depth of the kIOS. More... | |
| FCL_REAL | distance (const kIOS &other, Vec3f *P=NULL, Vec3f *Q=NULL) const |
| The distance between two kIOS. More... | |
| FCL_REAL | height () const |
| Height of the kIOS. More... | |
| bool | operator!= (const kIOS &other) const |
| Difference operator. More... | |
| kIOS | operator+ (const kIOS &other) const |
| Return the merged kIOS of current kIOS and the other one. More... | |
| kIOS & | operator+= (const kIOS &other) |
| Merge the kIOS and another kIOS. More... | |
| kIOS & | operator+= (const Vec3f &p) |
| A simple way to merge the kIOS and a point. More... | |
| bool | operator== (const kIOS &other) const |
| Equality operator. More... | |
| bool | overlap (const kIOS &other) const |
| Check collision between two kIOS. More... | |
| bool | overlap (const kIOS &other, const CollisionRequest &, FCL_REAL &sqrDistLowerBound) const |
| Check collision between two kIOS. More... | |
| FCL_REAL | size () const |
| size of the kIOS (used in BV_Splitter to order two kIOSs) More... | |
| FCL_REAL | volume () const |
| Volume of the kIOS. More... | |
| FCL_REAL | width () const |
| Width of the kIOS. More... | |
Public Attributes | |
| unsigned int | num_spheres |
| The number of spheres, no larger than 5. More... | |
| OBB | 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... | |
A class describing the kIOS collision structure, which is a set of spheres.