Class kIOS

Defined in File kIOS.h

Nested Relationships

Nested Types

Struct kIOS::kIOS_Sphere

Class Documentation

class kIOS

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

Public Functions

inline bool operator==(const kIOS &other) const: Equality operator.

inline bool operator!=(const kIOS &other) const: Difference operator.

bool contain(const Vec3f &p) const: Check whether the kIOS contains a point.

bool overlap(const kIOS &other) const: Check collision between two kIOS.

bool overlap(const kIOS &other, const CollisionRequest&, FCL_REAL &sqrDistLowerBound) const: Check collision between two kIOS.

FCL_REAL distance(const kIOS &other, Vec3f *P = NULL, Vec3f *Q = NULL) const: The distance between two kIOS.

kIOS &operator+=(const Vec3f &p): A simple way to merge the kIOS and a point.

inline kIOS &operator+=(const kIOS &other): Merge the kIOS and another kIOS.

kIOS operator+(const kIOS &other) const: Return the merged kIOS of current kIOS and the other one.

FCL_REAL size() const: size of the kIOS (used in BV_Splitter to order two kIOSs)

inline const Vec3f &center() const: Center of the kIOS.

FCL_REAL width() const: Width of the kIOS.

FCL_REAL height() const: Height of the kIOS.

FCL_REAL depth() const: Depth of the kIOS.

FCL_REAL volume() const: Volume of the kIOS.

Public Members

kIOS_Sphere spheres[5]: The (at most) five spheres for intersection.

unsigned int num_spheres: The number of spheres, no larger than 5.

OBB obb: @ OBB related with kIOS