kIOS.h

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#ifndef COAL_KIOS_H
#define COAL_KIOS_H

#include "coal/BV/OBB.h"

namespace coal {

struct CollisionRequest;


class COAL_DLLAPI kIOS {
 struct COAL_DLLAPI kIOS_Sphere {
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW

 Vec3s o;
 CoalScalar r;

 bool operator==(const kIOS_Sphere& other) const {
 return o == other.o && r == other.r;
 }

 bool operator!=(const kIOS_Sphere& other) const {
 return !(*this == other);
 }
 };

 static kIOS_Sphere encloseSphere(const kIOS_Sphere& s0,
 const kIOS_Sphere& s1) {
 Vec3s d = s1.o - s0.o;
 CoalScalar dist2 = d.squaredNorm();
 CoalScalar 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:
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW

 bool operator==(const kIOS& other) const {
 bool res = obb == other.obb && num_spheres == other.num_spheres;
 if (!res) return false;

 for (size_t k = 0; k < num_spheres; ++k) {
 if (spheres[k] != other.spheres[k]) return false;
 }

 return true;
 }

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

 static constexpr size_t max_num_spheres = 5;

 kIOS_Sphere spheres[max_num_spheres];

 unsigned int num_spheres;

 OBB obb;

 bool contain(const Vec3s& p) const;

 bool overlap(const kIOS& other) const;

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

 CoalScalar distance(const kIOS& other, Vec3s* P = NULL,
 Vec3s* Q = NULL) const;

 kIOS& operator+=(const Vec3s& p);

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

 kIOS operator+(const kIOS& other) const;

 CoalScalar size() const;

 const Vec3s& center() const { return spheres[0].o; }

 CoalScalar width() const;

 CoalScalar height() const;

 CoalScalar depth() const;

 CoalScalar volume() const;
};

COAL_DLLAPI kIOS translate(const kIOS& bv, const Vec3s& t);

COAL_DLLAPI bool overlap(const Matrix3s& R0, const Vec3s& T0, const kIOS& b1,
 const kIOS& b2);

COAL_DLLAPI bool overlap(const Matrix3s& R0, const Vec3s& T0, const kIOS& b1,
 const kIOS& b2, const CollisionRequest& request,
 CoalScalar& sqrDistLowerBound);

COAL_DLLAPI CoalScalar distance(const Matrix3s& R0, const Vec3s& T0,
 const kIOS& b1, const kIOS& b2, Vec3s* P = NULL,
 Vec3s* Q = NULL);

} // namespace coal

#endif