plane.h

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#ifndef FCL_SHAPE_PLANE_H
#define FCL_SHAPE_PLANE_H

#include "fcl/geometry/shape/shape_base.h"

namespace fcl
{

template <typename S_>
class Plane : public ShapeBase<S_>
{
public:

  using S = S_;

  Plane(const Vector3<S>& n, S d);
  
  Plane(S a, S b, S c, S d);

  Plane();

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

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

  void computeLocalAABB() override;

  NODE_TYPE getNodeType() const override;

  Vector3<S> n;

  S d;

protected:
  
  void unitNormalTest();
};

using Planef = Plane<float>;
using Planed = Plane<double>;

template <typename S>
Plane<S> transform(const Plane<S>& a, const Transform3<S>& tf);

} // namespace fcl

#include "fcl/geometry/shape/plane-inl.h"

#endif