Half Space: this is equivalent to the Plane in ODE. More...
#include <hpp/fcl/shape/geometric_shapes.h>
Public Member Functions | |
Halfspace (const Vec3f &n_, FCL_REAL d_) | |
Construct a half space with normal direction and offset. | |
Halfspace (FCL_REAL a, FCL_REAL b, FCL_REAL c, FCL_REAL d_) | |
Construct a plane with normal direction and offset. | |
Halfspace () | |
FCL_REAL | signedDistance (const Vec3f &p) const |
FCL_REAL | distance (const Vec3f &p) const |
void | computeLocalAABB () |
Compute AABB. | |
NODE_TYPE | getNodeType () const |
Get node type: a half space. | |
Public Attributes | |
Vec3f | n |
Plane normal. | |
FCL_REAL | d |
Plane offset. | |
Protected Member Functions | |
void | unitNormalTest () |
Turn non-unit normal into unit. |
Half Space: this is equivalent to the Plane in ODE.
The separation plane is defined as n * x = d; Points in the negative side of the separation plane (i.e. {x | n * x < d}) are inside the half space and points in the positive side of the separation plane (i.e. {x | n * x > d}) are outside the half space
Construct a half space with normal direction and offset.
References unitNormalTest().
Construct a plane with normal direction and offset.
References unitNormalTest().
fcl::Halfspace::Halfspace | ( | ) | [inline] |
void fcl::Halfspace::computeLocalAABB | ( | ) | [virtual] |
Compute AABB.
Implements fcl::CollisionGeometry.
NODE_TYPE fcl::Halfspace::getNodeType | ( | ) | const [inline, virtual] |
Get node type: a half space.
Reimplemented from fcl::CollisionGeometry.
References fcl::GEOM_HALFSPACE.
void fcl::Halfspace::unitNormalTest | ( | ) | [protected] |
Turn non-unit normal into unit.
Referenced by Halfspace().
Plane offset.
Referenced by distance(), and signedDistance().
Plane normal.
Referenced by distance(), and signedDistance().