kIOS.h

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#ifndef HPP_FCL_KIOS_H
#define HPP_FCL_KIOS_H

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


namespace hpp
{
namespace fcl
{

struct CollisionRequest;


class kIOS
{
  struct kIOS_Sphere
  {
    Vec3f o;
    FCL_REAL r;
  };

  static kIOS_Sphere encloseSphere(const kIOS_Sphere& s0, const kIOS_Sphere& s1)
  {
    Vec3f d = s1.o - s0.o;
    FCL_REAL dist2 = d.squaredNorm();
    FCL_REAL diff_r = s1.r - s0.r;
      
    if(diff_r * diff_r >= dist2)
    {
      if(s1.r > s0.r) return s1;
      else return s0;
    }
    else 
    {
      float dist = (float)std::sqrt(dist2);
      kIOS_Sphere s;
      s.r = dist + s0.r + s1.r;
      if(dist > 0)
        s.o = s0.o + d * ((s.r - s0.r) / dist);
      else
        s.o = s0.o;
      return s;
    }
  }
public:
    
  kIOS_Sphere spheres[5];

  unsigned int num_spheres;

  OBB obb;

  bool contain(const Vec3f& p) const;

  bool overlap(const kIOS& other) const;

  bool overlap(const kIOS& other, const CollisionRequest&,
               FCL_REAL& sqrDistLowerBound) const;

  FCL_REAL distance(const kIOS& other, Vec3f* P = NULL, Vec3f* Q = NULL) const;

  kIOS& operator += (const Vec3f& p);

  kIOS& operator += (const kIOS& other)
  {
    *this = *this + other;
    return *this;
  }

  kIOS operator + (const kIOS& other) const;

  FCL_REAL size() const;

  const Vec3f& center() const
  {
    return spheres[0].o;
  }

  FCL_REAL width() const;

  FCL_REAL height() const;

  FCL_REAL depth() const;

  FCL_REAL volume() const;
};


kIOS translate(const kIOS& bv, const Vec3f& t);

bool overlap(const Matrix3f& R0, const Vec3f& T0, const kIOS& b1, const kIOS& b2);

bool overlap(const Matrix3f& R0, const Vec3f& T0, const kIOS& b1, const kIOS& b2,
             const CollisionRequest& request,
             FCL_REAL& sqrDistLowerBound);

FCL_REAL distance(const Matrix3f& R0, const Vec3f& T0, const kIOS& b1, const kIOS& b2, Vec3f* P = NULL, Vec3f* Q = NULL);

}

} // namespace hpp

#endif