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... | |
A class describing the kIOS collision structure, which is a set of spheres.
Center of the kIOS.
Definition at line 166 of file kIOS-inl.h.
Check whether the kIOS contains a point.
Definition at line 108 of file kIOS-inl.h.
Depth of the kIOS.
Definition at line 187 of file kIOS-inl.h.
S fcl::kIOS< S >::distance | ( | const kIOS< S > & | other, |
Vector3< S > * | P = nullptr , |
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Vector3< S > * | Q = nullptr |
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) | const |
The distance between two kIOS.
Definition at line 208 of file kIOS-inl.h.
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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 of the kIOS.
Definition at line 180 of file kIOS-inl.h.
Return the merged kIOS of current kIOS and the other one.
Definition at line 148 of file kIOS-inl.h.
Merge the kIOS and another kIOS.
Definition at line 140 of file kIOS-inl.h.
A simple way to merge the kIOS and a point.
Definition at line 122 of file kIOS-inl.h.
Check collision between two kIOS.
Definition at line 80 of file kIOS-inl.h.
size of the kIOS (used in BV_Splitter to order two kIOSs)
Definition at line 201 of file kIOS-inl.h.
Volume of the kIOS.
Definition at line 194 of file kIOS-inl.h.
Width of the kIOS.
Definition at line 173 of file kIOS-inl.h.
unsigned int fcl::kIOS< S_ >::num_spheres |
kIOS_Sphere fcl::kIOS< S_ >::spheres[5] |