Infinite plane. More...

#include <plane.h>

Inheritance diagram for fcl::Plane< S_ >:

Public Types
using	S = S_

Public Types inherited from fcl::ShapeBase< S_ >
using	S = S_

Public Member Functions
	Plane (const Vector3< S > &n, S d)
	Construct a plane with normal direction and offset.

	Plane (S a, S b, S c, S d)
	Construct a plane with normal direction and offset.

S	signedDistance (const Vector3< S > &p) const

S	distance (const Vector3< S > &p) const

void	computeLocalAABB () override
	Compute AABB.

NODE_TYPE	getNodeType () const override
	Get node type: a plane.

Public Member Functions inherited from fcl::ShapeBase< S_ >
OBJECT_TYPE	getObjectType () const
	Get object type: a geometric shape.

Public Member Functions inherited from fcl::CollisionGeometry< S_ >
void *	getUserData () const
	get user data in geometry

void	setUserData (void *data)
	set user data in geometry

bool	isOccupied () const
	whether the object is completely occupied

bool	isFree () const
	whether the object is completely free

bool	isUncertain () const
	whether the object has some uncertainty

virtual Vector3< S_ >	computeCOM () const
	compute center of mass

virtual Matrix3< S_ >	computeMomentofInertia () const
	compute the inertia matrix, related to the origin

virtual S_	computeVolume () const
	compute the volume

virtual Matrix3< S_ >	computeMomentofInertiaRelatedToCOM () const
	compute the inertia matrix, related to the com

Public Attributes
Vector3< S >	n
	Plane normal.

S	d
	Plane offset.

Public Attributes inherited from fcl::CollisionGeometry< S_ >
Vector3< S_ >	aabb_center
	AABB center in local coordinate.

S_	aabb_radius
	AABB radius.

AABB< S_ >	aabb_local
	AABB in local coordinate, used for tight AABB when only translation transform.

void *	user_data
	pointer to user defined data specific to this object

S_	cost_density
	collision cost for unit volume

S_	threshold_occupied
	threshold for occupied ( >= is occupied)

S_	threshold_free
	threshold for free (<= is free)

Protected Member Functions
void	unitNormalTest ()
	Turn non-unit normal into unit.

Detailed Description

Infinite plane.

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

Public Types