InsideSpheres Class Reference

Public Member Functions
Construction
	InsideSpheres ()
CollisionDetectionMethod Overrides
virtual bool	IsInCollision (const GMSPolyhedron &_polyhedron1, const mathtool::Transformation &_t1, const GMSPolyhedron &_polyhedron2, const mathtool::Transformation &_t2, CDInfo &_cdInfo) override
Accessors
const std::string &	GetName () const
virtual void	Print (std::ostream &_os) const
CD Interface
virtual bool	IsInsideObstacle (const mathtool::Vector3d &_point, const GMSPolyhedron &_polyhedron, const mathtool::Transformation &_transformation)

Protected Attributes
Internal State
std::string	m_name
	Name of the CD method.

Detailed Description

Collision detection using inscribed spheres only. This implies that collisions will be sure, but no collision is uncertain.

Member Function Documentation

IsInCollision()

bool InsideSpheres::IsInCollision ( const GMSPolyhedron &  _polyhedron1, const mathtool::Transformation &  _transformation1, const GMSPolyhedron &  _polyhedron2, const mathtool::Transformation &  _transformation2, CDInfo &  _cdInfo  )

overridevirtual

Check if two polyhedrons are in collision.

Parameters

_polyhedron1	The first polyhedron.
_transformation1	Transformation for the first polyhedron.
_polyhedron2	The second polyhedron.
_transformation2	Transformation for the second polyhedron.
_cdInfo	Output information from the collision computation.

Returns

True if the polyhedrons are considered to be in collision. Some method check only intersection (i.e. Rapid, PQP) while others also check if one polyhedron is inside the other (i.e. PQPSolid).

Reimplemented from CollisionDetectionMethod.

GetName()

const std::string & CollisionDetectionMethod::GetName ( ) const

inherited

Returns

Name of CD Method

Print()

void CollisionDetectionMethod::Print ( std::ostream &  _os ) const

virtualinherited

Print information to an output stream.

Parameters

_os	The output stream.

IsInsideObstacle()

bool CollisionDetectionMethod::IsInsideObstacle ( const mathtool::Vector3d &  _point, const GMSPolyhedron &  _polyhedron, const mathtool::Transformation &  _transformation  )

virtualinherited

Check if a point is inside of a polyhedron.

Parameters

_point	The point to check.
_polyhedron	The polyhedron to check against.
_transformation	Transformation for the polyhedron.

Returns

Is the point inside _polyhedron?

Reimplemented in PQPSolid.

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

• SpheresCollisionDetection.h
• SpheresCollisionDetection.cpp