FCL  0.6.0
Flexible Collision Library
plane.h
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35 
38 #ifndef FCL_NARROWPHASE_DETAIL_PLANE_H
39 #define FCL_NARROWPHASE_DETAIL_PLANE_H
40 
41 #include "fcl/geometry/shape/sphere.h"
42 #include "fcl/geometry/shape/ellipsoid.h"
43 #include "fcl/geometry/shape/box.h"
44 #include "fcl/geometry/shape/capsule.h"
45 #include "fcl/geometry/shape/cylinder.h"
46 #include "fcl/geometry/shape/cone.h"
47 #include "fcl/geometry/shape/convex.h"
48 #include "fcl/geometry/shape/plane.h"
49 #include "fcl/narrowphase/contact_point.h"
50 
51 namespace fcl
52 {
53 
54 namespace detail
55 {
56 
57 template <typename S>
58 S planeIntersectTolerance();
59 
60 template <>
61 double planeIntersectTolerance();
62 
63 template <>
64 float planeIntersectTolerance();
65 
66 template <typename S>
67 bool spherePlaneIntersect(const Sphere<S>& s1, const Transform3<S>& tf1,
68  const Plane<S>& s2, const Transform3<S>& tf2,
69  std::vector<ContactPoint<S>>* contacts);
70 
71 template <typename S>
72 bool ellipsoidPlaneIntersect(const Ellipsoid<S>& s1, const Transform3<S>& tf1,
73  const Plane<S>& s2, const Transform3<S>& tf2,
74  std::vector<ContactPoint<S>>* contacts);
75 
83 template <typename S>
84 bool boxPlaneIntersect(const Box<S>& s1, const Transform3<S>& tf1,
85  const Plane<S>& s2, const Transform3<S>& tf2,
86  std::vector<ContactPoint<S>>* contacts);
87 
88 template <typename S>
89 bool capsulePlaneIntersect(const Capsule<S>& s1, const Transform3<S>& tf1,
90  const Plane<S>& s2, const Transform3<S>& tf2);
91 
92 template <typename S>
93 bool capsulePlaneIntersect(const Capsule<S>& s1, const Transform3<S>& tf1,
94  const Plane<S>& s2, const Transform3<S>& tf2,
95  std::vector<ContactPoint<S>>* contacts);
96 
102 template <typename S>
103 bool cylinderPlaneIntersect(const Cylinder<S>& s1, const Transform3<S>& tf1,
104  const Plane<S>& s2, const Transform3<S>& tf2);
105 
106 template <typename S>
107 bool cylinderPlaneIntersect(const Cylinder<S>& s1, const Transform3<S>& tf1,
108  const Plane<S>& s2, const Transform3<S>& tf2,
109  std::vector<ContactPoint<S>>* contacts);
110 
111 template <typename S>
112 bool conePlaneIntersect(const Cone<S>& s1, const Transform3<S>& tf1,
113  const Plane<S>& s2, const Transform3<S>& tf2,
114  std::vector<ContactPoint<S>>* contacts);
115 
116 template <typename S>
117 bool convexPlaneIntersect(const Convex<S>& s1, const Transform3<S>& tf1,
118  const Plane<S>& s2, const Transform3<S>& tf2,
119  Vector3<S>* contact_points, S* penetration_depth, Vector3<S>* normal);
120 
121 template <typename S>
122 bool planeTriangleIntersect(const Plane<S>& s1, const Transform3<S>& tf1,
123  const Vector3<S>& P1, const Vector3<S>& P2, const Vector3<S>& P3, const Transform3<S>& tf2,
124  Vector3<S>* contact_points, S* penetration_depth, Vector3<S>* normal);
125 
126 template <typename S>
127 bool planeIntersect(const Plane<S>& s1, const Transform3<S>& tf1,
128  const Plane<S>& s2, const Transform3<S>& tf2,
129  std::vector<ContactPoint<S>>* contacts);
130 
131 } // namespace detail
132 } // namespace fcl
133 
134 #include "fcl/narrowphase/detail/primitive_shape_algorithm/plane-inl.h"
135 
136 #endif
Main namespace.
Definition: broadphase_bruteforce-inl.h:45