Inheritance diagram for BoundingSpheres:

Collaboration diagram for BoundingSpheres:

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Public Member Functions
Construction
	BoundingSpheres ()

CollisionDetectionMethod Overrides
virtual bool	IsInCollision (const GMSPolyhedron &_polyhedron1, const mathtool::Transformation &_t1, const GMSPolyhedron &_polyhedron2, const mathtool::Transformation &_t2, CDInfo &_cdInfo) override

Public Member Functions inherited from CollisionDetectionMethod
	CollisionDetectionMethod (const std::string &_name="CD_USER1")

virtual	~CollisionDetectionMethod ()

const std::string &	GetName () const

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

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

Additional Inherited Members
Protected Attributes inherited from CollisionDetectionMethod
std::string	m_name
	Name of the CD method. More...

Detailed Description

Collision detection using bounding spheres. This implies that collisions will be unsure, but no collision is certain.

Constructor & Destructor Documentation

BoundingSpheres::BoundingSpheres ( )

bool BoundingSpheres::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).

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

/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/ValidityCheckers/CollisionDetection/SpheresCollisionDetection.h
/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/ValidityCheckers/CollisionDetection/SpheresCollisionDetection.cpp