FCL
0.6.0
Flexible Collision Library

A class describing the kIOS collision structure, which is a set of spheres. More...
#include <kIOS.h>
Public Types  
using  S = S_ 
Public Member Functions  
bool  overlap (const kIOS< S > &other) const 
Check collision between two kIOS.  
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...  
bool  contain (const Vector3< S > &p) const 
Check whether the kIOS contains a point.  
kIOS< S > &  operator+= (const Vector3< S > &p) 
A simple way to merge the kIOS and a point.  
kIOS< S > &  operator+= (const kIOS< S > &other) 
Merge the kIOS and another kIOS.  
kIOS< S >  operator+ (const kIOS< S > &other) const 
Return the merged kIOS of current kIOS and the other one.  
const Vector3< S > &  center () const 
Center of the kIOS.  
S  width () const 
Width of the kIOS.  
S  height () const 
Height of the kIOS.  
S  depth () const 
Depth of the kIOS.  
S  volume () const 
Volume of the kIOS.  
S  size () const 
size of the kIOS (used in BV_Splitter to order two kIOSs)  
S  distance (const kIOS< S > &other, Vector3< S > *P=nullptr, Vector3< S > *Q=nullptr) const 
The distance between two kIOS.  
Static Public Member Functions  
static constexpr S  ratio () 
static constexpr S  invSinA () 
static S  cosA () 
Public Attributes  
kIOS_Sphere  spheres [5] 
The (at most) five spheres for intersection.  
unsigned int  num_spheres 
The number of spheres, no larger than 5.  
OBB< S >  obb 
OBB related with kIOS.  
A class describing the kIOS collision structure, which is a set of spheres.