FCL  0.6.0
Flexible Collision Library
plane-inl.h
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35 
38 #ifndef FCL_SHAPE_PLANE_INL_H
39 #define FCL_SHAPE_PLANE_INL_H
40 
41 #include "fcl/geometry/shape/plane.h"
42 
43 namespace fcl
44 {
45 
46 //==============================================================================
47 extern template
48 class Plane<double>;
49 
50 //==============================================================================
51 extern template
52 Plane<double> transform(const Plane<double>& a, const Transform3<double>& tf);
53 
54 //==============================================================================
55 template <typename S>
56 Plane<S>::Plane(const Vector3<S>& n, S d)
57  : ShapeBase<S>(), n(n), d(d)
58 {
60 }
61 
62 //==============================================================================
63 template <typename S>
64 Plane<S>::Plane(S a, S b, S c, S d)
65  : ShapeBase<S>(), n(a, b, c), d(d)
66 {
68 }
69 
70 //==============================================================================
71 template <typename S>
72 Plane<S>::Plane() : ShapeBase<S>(), n(1, 0, 0), d(0)
73 {
74  // Do nothing
75 }
76 
77 //==============================================================================
78 template <typename S>
79 S Plane<S>::signedDistance(const Vector3<S>& p) const
80 {
81  return n.dot(p) - d;
82 }
83 
84 //==============================================================================
85 template <typename S>
86 S Plane<S>::distance(const Vector3<S>& p) const
87 {
88  return std::abs(n.dot(p) - d);
89 }
90 
91 //==============================================================================
92 template <typename S>
94 {
95  this->aabb_local.min_.setConstant(-std::numeric_limits<S>::max());
96  this->aabb_local.max_.setConstant(std::numeric_limits<S>::max());
97  if(n[1] == (S)0.0 && n[2] == (S)0.0)
98  {
99  // normal aligned with x axis
100  if(n[0] < 0)
101  this->aabb_local.min_[0] = this->aabb_local.max_[0] = -d;
102  else if(n[0] > 0)
103  this->aabb_local.min_[0] = this->aabb_local.max_[0] = d;
104  }
105  else if(n[0] == (S)0.0 && n[2] == (S)0.0)
106  {
107  // normal aligned with y axis
108  if(n[1] < 0)
109  this->aabb_local.min_[1] = this->aabb_local.max_[1] = -d;
110  else if(n[1] > 0)
111  this->aabb_local.min_[1] = this->aabb_local.max_[1] = d;
112  }
113  else if(n[0] == (S)0.0 && n[1] == (S)0.0)
114  {
115  // normal aligned with z axis
116  if(n[2] < 0)
117  this->aabb_local.min_[2] = this->aabb_local.max_[2] = -d;
118  else if(n[2] > 0)
119  this->aabb_local.min_[2] = this->aabb_local.max_[2] = d;
120  }
121 
122  this->aabb_center = this->aabb_local.center();
123  this->aabb_radius = (this->aabb_local.min_ - this->aabb_center).norm();
124 }
125 
126 //==============================================================================
127 template <typename S>
129 {
130  return GEOM_PLANE;
131 }
132 
133 //==============================================================================
134 template <typename S>
136 {
137  S l = n.norm();
138  if(l > 0)
139  {
140  S inv_l = 1.0 / l;
141  n *= inv_l;
142  d *= inv_l;
143  }
144  else
145  {
146  n << 1, 0, 0;
147  d = 0;
148  }
149 }
150 
151 //==============================================================================
152 template <typename S>
153 Plane<S> transform(const Plane<S>& a, const Transform3<S>& tf)
154 {
160 
161  Vector3<S> n = tf.linear() * a.n;
162  S d = a.d + n.dot(tf.translation());
163 
164  return Plane<S>(n, d);
165 }
166 
167 } // namespace fcl
168 
169 #endif
void unitNormalTest()
Turn non-unit normal into unit.
Definition: plane-inl.h:135
Vector3< S_ > aabb_center
AABB center in local coordinate.
Definition: collision_geometry.h:91
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
S_ aabb_radius
AABB radius.
Definition: collision_geometry.h:94
NODE_TYPE getNodeType() const override
Get node type: a plane.
Definition: plane-inl.h:128
AABB< S_ > aabb_local
AABB in local coordinate, used for tight AABB when only translation transform.
Definition: collision_geometry.h:97
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