FCL  0.6.0
Flexible Collision Library
plane.h
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35 
38 #ifndef FCL_SHAPE_PLANE_H
39 #define FCL_SHAPE_PLANE_H
40 
41 #include "fcl/geometry/shape/shape_base.h"
42 
43 namespace fcl
44 {
45 
47 template <typename S_>
48 class Plane : public ShapeBase<S_>
49 {
50 public:
51 
52  using S = S_;
53 
55  Plane(const Vector3<S>& n, S d);
56 
58  Plane(S a, S b, S c, S d);
59 
60  Plane();
61 
62  S signedDistance(const Vector3<S>& p) const;
63 
64  S distance(const Vector3<S>& p) const;
65 
67  void computeLocalAABB() override;
68 
70  NODE_TYPE getNodeType() const override;
71 
73  Vector3<S> n;
74 
76  S d;
77 
78 protected:
79 
81  void unitNormalTest();
82 };
83 
84 using Planef = Plane<float>;
85 using Planed = Plane<double>;
86 
87 template <typename S>
88 Plane<S> transform(const Plane<S>& a, const Transform3<S>& tf);
89 
90 } // namespace fcl
91 
92 #include "fcl/geometry/shape/plane-inl.h"
93 
94 #endif
void unitNormalTest()
Turn non-unit normal into unit.
Definition: plane-inl.h:135
NODE_TYPE
traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS, KDOP16, KDOP18, kDOP24), basic shape (box, sphere, ellipsoid, capsule, cone, cylinder, convex, plane, halfspace, triangle), and octree
Definition: collision_geometry.h:54
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
Base class for all basic geometric shapes.
Definition: shape_base.h:48
NODE_TYPE getNodeType() const override
Get node type: a plane.
Definition: plane-inl.h:128
Infinite plane.
Definition: plane.h:48
S d
Plane offset.
Definition: plane.h:76
void computeLocalAABB() override
Compute AABB.
Definition: plane-inl.h:93
Vector3< S > n
Plane normal.
Definition: plane.h:73