DART 6.10.1
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PlaneShape.hpp
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32
33#ifndef DART_DYNAMICS_PLANESHAPE_HPP_
34#define DART_DYNAMICS_PLANESHAPE_HPP_
35
37
38namespace dart {
39namespace dynamics {
40
42class PlaneShape : public Shape
43{
44public:
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
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
85private:
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
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