KDOP class describes the KDOP collision structures. More...

#include <hpp/fcl/BV/kDOP.h>

Public Member Functions
	KDOP ()
	Creating kDOP containing nothing. More...

	KDOP (const Vec3f &v)
	Creating kDOP containing only one point. More...

	KDOP (const Vec3f &a, const Vec3f &b)
	Creating kDOP containing two points. More...

bool	overlap (const KDOP< N > &other) const
	Check whether two KDOPs are overlapped. More...

bool	overlap (const KDOP< N > &other, const CollisionRequest &, FCL_REAL &sqrDistLowerBound) const
	Not implemented. More...

bool	inside (const Vec3f &p) const

KDOP< N > &	operator+= (const Vec3f &p)
	Merge the point and the KDOP. More...

KDOP< N > &	operator+= (const KDOP< N > &other)
	Merge two KDOPs. More...

KDOP< N >	operator+ (const KDOP< N > &other) const
	Create a KDOP by mergin two KDOPs. More...

FCL_REAL	width () const
	The (AABB) width. More...

FCL_REAL	height () const
	The (AABB) height. More...

FCL_REAL	depth () const
	The (AABB) depth. More...

FCL_REAL	volume () const
	The (AABB) volume. More...

FCL_REAL	size () const
	Size of the kDOP (used in BV_Splitter to order two kDOPs) More...

Vec3f	center () const
	The (AABB) center. More...

FCL_REAL	distance (const KDOP< N > &other, Vec3f P=NULL, Vec3f Q=NULL) const
	The distance between two KDOP<N>. Not implemented. More...

FCL_REAL	dist (std::size_t i) const

FCL_REAL &	dist (std::size_t i)

Detailed Description

template<size_t N>
class hpp::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 = 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