38 #ifndef HPP_FCL_KIOS_H 39 #define HPP_FCL_KIOS_H 49 struct CollisionRequest;
65 static kIOS_Sphere encloseSphere(
const kIOS_Sphere& s0,
const kIOS_Sphere& s1)
67 Vec3f d = s1.o - s0.o;
72 if(diff_r * diff_r >= dist2)
74 if(s1.r > s0.r)
return s1;
79 float dist = (float)std::sqrt(dist2);
81 s.r = dist + s0.r + s1.r;
83 s.o = s0.o + d * ((s.r - s0.r) / dist);
92 kIOS_Sphere spheres[5];
101 bool contain(
const Vec3f& p)
const;
119 *
this = *
this + other;
124 kIOS operator + (
const kIOS& other)
const;
Main namespace.
Definition: AABB.h:43
Oriented bounding box class.
Definition: OBB.h:54
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:68
FCL_REAL r
Definition: kIOS.h:61
KDOP< N > translate(const KDOP< N > &bv, const Vec3f &t)
translate the KDOP BV
OBB obb
@ OBB related with kIOS
Definition: kIOS.h:98
unsigned int num_spheres
The number of spheres, no larger than 5.
Definition: kIOS.h:95
A class describing the kIOS collision structure, which is a set of spheres.
Definition: kIOS.h:55
request to the collision algorithm
Definition: collision_data.h:197
FCL_REAL distance(const Matrix3f &R0, const Vec3f &T0, const kIOS &b1, const kIOS &b2, Vec3f *P=NULL, Vec3f *Q=NULL)
Approximate distance between two kIOS bounding volumes.
double FCL_REAL
Definition: data_types.h:66
const Vec3f & center() const
Center of the kIOS.
Definition: kIOS.h:130
bool overlap(const Matrix3f &R0, const Vec3f &T0, const AABB &b1, const AABB &b2)
Check collision between two aabbs, b1 is in configuration (R0, T0) and b2 is in identity.
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:67
#define HPP_FCL_DLLAPI
Definition: config.hh:64
Vec3f o
Definition: kIOS.h:60