halfspace.h

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2016, Open Source Robotics Foundation
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Open Source Robotics Foundation nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef FCL_SHAPE_HALFSPACE_H
#define FCL_SHAPE_HALFSPACE_H

#include "fcl/geometry/shape/shape_base.h"
#include "fcl/math/bv/OBB.h"
#include "fcl/math/bv/RSS.h"
#include "fcl/math/bv/OBBRSS.h"
#include "fcl/math/bv/kDOP.h"
#include "fcl/math/bv/kIOS.h"

namespace fcl
{

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

  using S = S_;

  Halfspace(const Vector3<S>& n, S d);

  Halfspace(S a, S b, S c, S d_);

  Halfspace();

  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 Halfspacef = Halfspace<float>;
using Halfspaced = Halfspace<double>;

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

} // namespace fcl

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

#endif