DART  6.10.1
PlaneShape.hpp
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32 
33 #ifndef DART_DYNAMICS_PLANESHAPE_HPP_
34 #define DART_DYNAMICS_PLANESHAPE_HPP_
35 
36 #include "dart/dynamics/Shape.hpp"
37 
38 namespace dart {
39 namespace dynamics {
40 
42 class PlaneShape : public Shape
43 {
44 public:
46  PlaneShape(const Eigen::Vector3d& _normal, double _offset);
47 
49  PlaneShape(const Eigen::Vector3d& _normal, const Eigen::Vector3d& _point);
50 
51  // Documentation inherited.
52  const std::string& getType() const override;
53 
55  static const std::string& getStaticType();
56 
57  // Documentation inherited.
58  Eigen::Matrix3d computeInertia(double mass) const override;
59 
61  void setNormal(const Eigen::Vector3d& _normal);
62 
64  const Eigen::Vector3d& getNormal() const;
65 
67  void setOffset(double _offset);
68 
70  double getOffset() const;
71 
73  void setNormalAndOffset(const Eigen::Vector3d& _normal, double _offset);
74 
76  void setNormalAndPoint(
77  const Eigen::Vector3d& _normal, const Eigen::Vector3d& _point);
78 
80  double computeDistance(const Eigen::Vector3d& _point) const;
81 
83  double computeSignedDistance(const Eigen::Vector3d& _point) const;
84 
85 private:
86  // Documentation inherited.
87  void updateBoundingBox() const override;
88 
89  // Documentation inherited.
90  void updateVolume() const override;
91 
93  Eigen::Vector3d mNormal;
94 
96  double mOffset;
97 };
98 
99 } // namespace dynamics
100 } // namespace dart
101 
102 #endif // DART_DYNAMICS_PLANESHAPE_HPP_
PlaneShape represents infinite plane has normal and offset as properties.
Definition: PlaneShape.hpp:43
void setNormalAndPoint(const Eigen::Vector3d &_normal, const Eigen::Vector3d &_point)
Set plane normal and point.
Definition: PlaneShape.cpp:107
void setNormalAndOffset(const Eigen::Vector3d &_normal, double _offset)
Set plane normal and offset.
Definition: PlaneShape.cpp:99
void setNormal(const Eigen::Vector3d &_normal)
Set plane normal.
Definition: PlaneShape.cpp:71
const std::string & getType() const override
Returns a string representing the shape type.
Definition: PlaneShape.cpp:52
void updateBoundingBox() const override
Updates bounding box.
Definition: PlaneShape.cpp:127
double computeSignedDistance(const Eigen::Vector3d &_point) const
Compute signed distance between the plane and the given point.
Definition: PlaneShape.cpp:121
void updateVolume() const override
Updates volume.
Definition: PlaneShape.cpp:138
double mOffset
Plane offset.
Definition: PlaneShape.hpp:96
static const std::string & getStaticType()
Returns shape type for this class.
Definition: PlaneShape.cpp:58
PlaneShape(const Eigen::Vector3d &_normal, double _offset)
Constructor.
Definition: PlaneShape.cpp:39
Eigen::Vector3d mNormal
Plane normal.
Definition: PlaneShape.hpp:93
Eigen::Matrix3d computeInertia(double mass) const override
Computes the inertia.
Definition: PlaneShape.cpp:65
const Eigen::Vector3d & getNormal() const
Get plane normal.
Definition: PlaneShape.cpp:79
double computeDistance(const Eigen::Vector3d &_point) const
Compute distance between the plane and the given point.
Definition: PlaneShape.cpp:115
double getOffset() const
Get plane offset.
Definition: PlaneShape.cpp:93
void setOffset(double _offset)
Set plane offset.
Definition: PlaneShape.cpp:85
Definition: Shape.hpp:54
Definition: BulletCollisionDetector.cpp:65