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 EIGEN_MAKE_ALIGNED_OPERATOR_NEW bool operator== (const kIOS &other) const

Equality operator.

inline bool operator!=(const kIOS &other) const

Difference operator.

bool contain(const Vec3s &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&, Scalar &sqrDistLowerBound) const

Check collision between two kIOS.

Scalar distance(const kIOS &other, Vec3s *P = NULL, Vec3s *Q = NULL) const

The distance between two kIOS.

kIOS &operator+=(const Vec3s &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.

Scalar size() const

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

inline const Vec3s &center() const

Center of the kIOS.

Scalar width() const

Width of the kIOS.

Scalar height() const

Height of the kIOS.

Scalar depth() const

Depth of the kIOS.

Scalar volume() const

Volume of the kIOS.

Public Members

kIOS_Sphere spheres[max_num_spheres]

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

Public Static Attributes

static constexpr size_t max_num_spheres = 5