All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator Friends
fcl::KDOP

fcl::KDOP< N > Class Template Reference

KDOP class describes the KDOP collision structures. K is set as the template parameter, which should be 16, 18, or 24 The KDOP structure is defined by some pairs of parallel planes defined by some axes. For K = 18, the planes are 6 AABB planes and 12 diagonal planes that cut off some space of the edges: (-1,0,0) and (1,0,0) -> indices 0 and 9 (0,-1,0) and (0,1,0) -> indices 1 and 10 (0,0,-1) and (0,0,1) -> indices 2 and 11 (-1,-1,0) and (1,1,0) -> indices 3 and 12 (-1,0,-1) and (1,0,1) -> indices 4 and 13 (0,-1,-1) and (0,1,1) -> indices 5 and 14 (-1,1,0) and (1,-1,0) -> indices 6 and 15 (-1,0,1) and (1,0,-1) -> indices 7 and 16 (0,-1,1) and (0,1,-1) -> indices 8 and 17. More...

#include <kDOP.h>

List of all members.


Public Member Functions

 KDOP ()
 Creating kDOP containing nothing.
 KDOP (const Vec3f &v)
 Creating kDOP containing only one point.
 KDOP (const Vec3f &a, const Vec3f &b)
 Creating kDOP containing two points.
bool overlap (const KDOP< N > &other) const
 Check whether two KDOPs are overlapped.
bool inside (const Vec3f &p) const
KDOP< N > & operator+= (const Vec3f &p)
 Merge the point and the KDOP.
KDOP< N > & operator+= (const KDOP< N > &other)
 Merge two KDOPs.
KDOP< N > operator+ (const KDOP< N > &other) const
 Create a KDOP by mergin two KDOPs.
FCL_REAL width () const
 The (AABB) width.
FCL_REAL height () const
 The (AABB) height.
FCL_REAL depth () const
 The (AABB) depth.
FCL_REAL volume () const
 The (AABB) volume.
FCL_REAL size () const
 Size of the kDOP (used in BV_Splitter to order two kDOPs).
Vec3f center () const
 The (AABB) center.
FCL_REAL distance (const KDOP< N > &other, Vec3f *P=NULL, Vec3f *Q=NULL) const
 The distance between two KDOP<N>. Not implemented.
FCL_REAL dist (std::size_t i) const
FCL_REAL & dist (std::size_t i)

Detailed Description

template<size_t N>
class fcl::KDOP< N >

KDOP class describes the KDOP collision structures. K is set as the template parameter, which should be 16, 18, or 24 The KDOP structure is defined by some pairs of parallel planes defined by some axes. For K = 18, the planes are 6 AABB planes and 12 diagonal planes that cut off some space of the edges: (-1,0,0) and (1,0,0) -> indices 0 and 9 (0,-1,0) and (0,1,0) -> indices 1 and 10 (0,0,-1) and (0,0,1) -> indices 2 and 11 (-1,-1,0) and (1,1,0) -> indices 3 and 12 (-1,0,-1) and (1,0,1) -> indices 4 and 13 (0,-1,-1) and (0,1,1) -> indices 5 and 14 (-1,1,0) and (1,-1,0) -> indices 6 and 15 (-1,0,1) and (1,0,-1) -> indices 7 and 16 (0,-1,1) and (0,1,-1) -> indices 8 and 17.

Definition at line 60 of file kDOP.h.

The documentation for this class was generated from the following files: