plane.h

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#ifndef FCL_NARROWPHASE_DETAIL_PLANE_H
#define FCL_NARROWPHASE_DETAIL_PLANE_H

#include "fcl/geometry/shape/sphere.h"
#include "fcl/geometry/shape/ellipsoid.h"
#include "fcl/geometry/shape/box.h"
#include "fcl/geometry/shape/capsule.h"
#include "fcl/geometry/shape/cylinder.h"
#include "fcl/geometry/shape/cone.h"
#include "fcl/geometry/shape/convex.h"
#include "fcl/geometry/shape/plane.h"
#include "fcl/narrowphase/contact_point.h"

namespace fcl
{

namespace detail
{

template <typename S>
S planeIntersectTolerance();

template <>
double planeIntersectTolerance();

template <>
float planeIntersectTolerance();

template <typename S>
bool spherePlaneIntersect(const Sphere<S>& s1, const Transform3<S>& tf1,
                          const Plane<S>& s2, const Transform3<S>& tf2,
                          std::vector<ContactPoint<S>>* contacts);

template <typename S>
bool ellipsoidPlaneIntersect(const Ellipsoid<S>& s1, const Transform3<S>& tf1,
                             const Plane<S>& s2, const Transform3<S>& tf2,
                             std::vector<ContactPoint<S>>* contacts);

template <typename S>
bool boxPlaneIntersect(const Box<S>& s1, const Transform3<S>& tf1,
                       const Plane<S>& s2, const Transform3<S>& tf2,
                       std::vector<ContactPoint<S>>* contacts);

template <typename S>
bool capsulePlaneIntersect(const Capsule<S>& s1, const Transform3<S>& tf1,
                           const Plane<S>& s2, const Transform3<S>& tf2);

template <typename S>
bool capsulePlaneIntersect(const Capsule<S>& s1, const Transform3<S>& tf1,
                           const Plane<S>& s2, const Transform3<S>& tf2,
                           std::vector<ContactPoint<S>>* contacts);

template <typename S>
bool cylinderPlaneIntersect(const Cylinder<S>& s1, const Transform3<S>& tf1,
                            const Plane<S>& s2, const Transform3<S>& tf2);

template <typename S>
bool cylinderPlaneIntersect(const Cylinder<S>& s1, const Transform3<S>& tf1,
                            const Plane<S>& s2, const Transform3<S>& tf2,
                            std::vector<ContactPoint<S>>* contacts);

template <typename S>
bool conePlaneIntersect(const Cone<S>& s1, const Transform3<S>& tf1,
                        const Plane<S>& s2, const Transform3<S>& tf2,
                        std::vector<ContactPoint<S>>* contacts);

template <typename S>
bool convexPlaneIntersect(const Convex<S>& s1, const Transform3<S>& tf1,
                          const Plane<S>& s2, const Transform3<S>& tf2,
                          Vector3<S>* contact_points, S* penetration_depth, Vector3<S>* normal);

template <typename S>
bool planeTriangleIntersect(const Plane<S>& s1, const Transform3<S>& tf1,
                            const Vector3<S>& P1, const Vector3<S>& P2, const Vector3<S>& P3, const Transform3<S>& tf2,
                            Vector3<S>* contact_points, S* penetration_depth, Vector3<S>* normal);

template <typename S>
bool planeIntersect(const Plane<S>& s1, const Transform3<S>& tf1,
                    const Plane<S>& s2, const Transform3<S>& tf2,
                    std::vector<ContactPoint<S>>* contacts);

} // namespace detail
} // namespace fcl

#include "fcl/narrowphase/detail/primitive_shape_algorithm/plane-inl.h"

#endif