coal::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 = 16, the planes are 6 AABB planes and 10 diagonal planes that cut off some space of the edges: (-1,0,0) and (1,0,0) -> indices 0 and 8 (0,-1,0) and (0,1,0) -> indices 1 and 9 (0,0,-1) and (0,0,1) -> indices 2 and 10 (-1,-1,0) and (1,1,0) -> indices 3 and 11 (-1,0,-1) and (1,0,1) -> indices 4 and 12 (0,-1,-1) and (0,1,1) -> indices 5 and 13 (-1,1,0) and (1,-1,0) -> indices 6 and 14 (-1,0,1) and (1,0,-1) -> indices 7 and 15 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 For K = 18, the planes are 6 AABB planes and 18 diagonal planes that cut off some space of the edges: (-1,0,0) and (1,0,0) -> indices 0 and 12 (0,-1,0) and (0,1,0) -> indices 1 and 13 (0,0,-1) and (0,0,1) -> indices 2 and 14 (-1,-1,0) and (1,1,0) -> indices 3 and 15 (-1,0,-1) and (1,0,1) -> indices 4 and 16 (0,-1,-1) and (0,1,1) -> indices 5 and 17 (-1,1,0) and (1,-1,0) -> indices 6 and 18 (-1,0,1) and (1,0,-1) -> indices 7 and 19 (0,-1,1) and (0,1,-1) -> indices 8 and 20 (-1, -1, 1) and (1, 1, -1) --> indices 9 and 21 (-1, 1, -1) and (1, -1, 1) --> indices 10 and 22 (1, -1, -1) and (-1, 1, 1) --> indices 11 and 23. More...

#include <coal/BV/kDOP.h>

Inheritance diagram for coal::KDOP< N >:

Public Member Functions
	KDOP ()
	Creating kDOP containing nothing. More...
	KDOP (const Vec3s &v)
	Creating kDOP containing only one point. More...
	KDOP (const Vec3s &a, const Vec3s &b)
	Creating kDOP containing two points. More...
bool	operator== (const KDOP &other) const
	Equality operator. More...
bool	operator!= (const KDOP &other) const
	Difference operator. More...
bool	overlap (const KDOP &other) const
	Check whether two KDOPs overlap. More...
bool	overlap (const KDOP &other, const CollisionRequest &request, Scalar &sqrDistLowerBound) const
	Check whether two KDOPs overlap. More...
Scalar	distance (const KDOP &other, Vec3s *P=NULL, Vec3s *Q=NULL) const
	The distance between two KDOP, Not implemented. More...
KDOP &	operator+= (const Vec3s &p)
	Merge the point and the KDOP. More...
KDOP &	operator+= (const KDOP &other)
	Merge two KDOPs. More...
KDOP< N >	operator+ (const KDOP &other) const
	Create a KDOP by mergin two KDOPs. More...
Scalar	size () const
	Size of the kDOP (used in BV_Splitter to order two kDOPs) More...
Vec3s	center () const
	The (AABB) center. More...
Scalar	width () const
	The (AABB) width. More...
Scalar	height () const
	The (AABB) height. More...
Scalar	depth () const
	The (AABB) depth. More...
Scalar	volume () const
	The (AABB) volume. More...
Scalar	dist (short i) const
Scalar &	dist (short i)
bool	inside (const Vec3s &p) const

Protected Attributes
Eigen::Array< Scalar, N, 1 >	dist_
	Origin's distances to N KDOP planes. More...

Detailed Description

template<short N>
class coal::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 = 16, the planes are 6 AABB planes and 10 diagonal planes that cut off some space of the edges: (-1,0,0) and (1,0,0) -> indices 0 and 8 (0,-1,0) and (0,1,0) -> indices 1 and 9 (0,0,-1) and (0,0,1) -> indices 2 and 10 (-1,-1,0) and (1,1,0) -> indices 3 and 11 (-1,0,-1) and (1,0,1) -> indices 4 and 12 (0,-1,-1) and (0,1,1) -> indices 5 and 13 (-1,1,0) and (1,-1,0) -> indices 6 and 14 (-1,0,1) and (1,0,-1) -> indices 7 and 15 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 For K = 18, the planes are 6 AABB planes and 18 diagonal planes that cut off some space of the edges: (-1,0,0) and (1,0,0) -> indices 0 and 12 (0,-1,0) and (0,1,0) -> indices 1 and 13 (0,0,-1) and (0,0,1) -> indices 2 and 14 (-1,-1,0) and (1,1,0) -> indices 3 and 15 (-1,0,-1) and (1,0,1) -> indices 4 and 16 (0,-1,-1) and (0,1,1) -> indices 5 and 17 (-1,1,0) and (1,-1,0) -> indices 6 and 18 (-1,0,1) and (1,0,-1) -> indices 7 and 19 (0,-1,1) and (0,1,-1) -> indices 8 and 20 (-1, -1, 1) and (1, 1, -1) --> indices 9 and 21 (-1, 1, -1) and (1, -1, 1) --> indices 10 and 22 (1, -1, -1) and (-1, 1, 1) --> indices 11 and 23.

Constructor & Destructor Documentation

KDOP() [1/3]

template<short N>

coal::KDOP< N >::KDOP

(

)

Creating kDOP containing nothing.

KDOP() [2/3]

template<short N>

coal::KDOP< N >::KDOP

(

const Vec3s &

v

)

Creating kDOP containing only one point.

KDOP() [3/3]

template<short N>

coal::KDOP< N >::KDOP	(	const Vec3s &	a,
		const Vec3s &	b
	)

Creating kDOP containing two points.

Member Function Documentation

center()

template<short N>

Vec3s coal::KDOP< N >::center ( ) const

inline

The (AABB) center.

depth()

template<short N>

Scalar coal::KDOP< N >::depth ( ) const

inline

The (AABB) depth.

dist() [1/2]

template<short N>

Scalar& coal::KDOP< N >::dist ( short  i )

inline

dist() [2/2]

template<short N>

Scalar coal::KDOP< N >::dist ( short  i ) const

inline

distance()

template<short N>

Scalar coal::KDOP< N >::distance	(	const KDOP< N > &	other,
		Vec3s *	P = NULL,
		Vec3s *	Q = NULL
	)		const

The distance between two KDOP, Not implemented.

height()

template<short N>

Scalar coal::KDOP< N >::height ( ) const

inline

The (AABB) height.

inside()

template<short N>

bool coal::KDOP< N >::inside

(

const Vec3s &

p

)

const

operator!=()

template<short N>

bool coal::KDOP< N >::operator!= ( const KDOP< N > &  other ) const

inline

Difference operator.

operator+()

template<short N>

KDOP<N> coal::KDOP< N >::operator+

(

const KDOP< N > &

other

)

const

Create a KDOP by mergin two KDOPs.

operator+=() [1/2]

template<short N>

KDOP& coal::KDOP< N >::operator+=

(

const KDOP< N > &

other

)

Merge two KDOPs.

operator+=() [2/2]

template<short N>

KDOP& coal::KDOP< N >::operator+=

(

const Vec3s &

p

)

Merge the point and the KDOP.

operator==()

template<short N>

bool coal::KDOP< N >::operator== ( const KDOP< N > &  other ) const

inline

Equality operator.

overlap() [1/2]

template<short N>

bool coal::KDOP< N >::overlap

(

const KDOP< N > &

other

)

const

Check whether two KDOPs overlap.

overlap() [2/2]

template<short N>

bool coal::KDOP< N >::overlap	(	const KDOP< N > &	other,
		const CollisionRequest &	request,
		Scalar &	sqrDistLowerBound
	)		const

Check whether two KDOPs overlap.

Returns

true if collision happens.

Return values

sqrDistLowerBound

squared lower bound on distance between boxes if they do not overlap.

size()

template<short N>

Scalar coal::KDOP< N >::size ( ) const

inline

Size of the kDOP (used in BV_Splitter to order two kDOPs)

volume()

template<short N>

Scalar coal::KDOP< N >::volume ( ) const

inline

The (AABB) volume.

width()

template<short N>

Scalar coal::KDOP< N >::width ( ) const

inline

The (AABB) width.

Member Data Documentation

dist_

template<short N>

Eigen::Array<Scalar, N, 1> coal::KDOP< N >::dist_

protected

Origin's distances to N KDOP planes.

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

• include/coal/BV/kDOP.h