The "Outnumbered" panel today discussed the shocking, heartbreaking passing of Robin Williams, and Kimberly Guilfoyle shared some thoughts about the beloved comedian and actor, with whom she was very friendly.

Guilfoyle - who spent a lot of time with Williams in San Francisco, including hosting an event together - characterized him as funny, kind and generous.

She noted his incredible efforts for charities, including the USO, and that he was always looking to selflessly share his time and incredible talents.

"No matter what was going on in the world or in the room or wherever he was, he took it upon himself to bring happiness into that room and to entertain people and give so much of himself," she said.

Watch the clip from "Outnumbered" above.

More on the tragic passing of Robin Williams:

Celebrities, Fox News Hosts React to Robin Williams' Death

Dr. Ablow: 'Anybody Can Recover From Depression'

FLASHBACK: Robin Williams Performs Stand-Up for US Troops Overseas

Ingraham: Jeff Bridges Burst Into Tears at Premiere After Learning of Williams' Death

Larry King: Williams ‘Gave the Gift of Laughter, a Gift We Can Never Repay’

‘He Really Was Patch Adams’: Director Says Williams Was 'Divinely Appointed' to Role