PlaneShape.hpp

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#ifndef DART_DYNAMICS_PLANESHAPE_HPP_
#define DART_DYNAMICS_PLANESHAPE_HPP_
 
#include "dart/dynamics/Shape.hpp"
 
namespace dart {
namespace dynamics {
 
class PlaneShape : public Shape
{
public:
  PlaneShape(const Eigen::Vector3d& _normal, double _offset);
 
  PlaneShape(const Eigen::Vector3d& _normal, const Eigen::Vector3d& _point);
 
  // Documentation inherited.
  const std::string& getType() const override;
 
  static const std::string& getStaticType();
 
  // Documentation inherited.
  Eigen::Matrix3d computeInertia(double mass) const override;
 
  void setNormal(const Eigen::Vector3d& _normal);
 
  const Eigen::Vector3d& getNormal() const;
 
  void setOffset(double _offset);
 
  double getOffset() const;
 
  void setNormalAndOffset(const Eigen::Vector3d& _normal, double _offset);
 
  void setNormalAndPoint(
      const Eigen::Vector3d& _normal, const Eigen::Vector3d& _point);
 
  double computeDistance(const Eigen::Vector3d& _point) const;
 
  double computeSignedDistance(const Eigen::Vector3d& _point) const;
 
private:
  // Documentation inherited.
  void updateBoundingBox() const override;
 
  // Documentation inherited.
  void updateVolume() const override;
 
  Eigen::Vector3d mNormal;
 
  double mOffset;
};
 
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_PLANESHAPE_HPP_