Public Member Functions | Public Attributes | Protected Member Functions
fcl::Halfspace Class Reference

Half Space: this is equivalent to the Plane in ODE. More...

#include <hpp/fcl/shape/geometric_shapes.h>

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List of all members.

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.

Detailed Description

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


Constructor & Destructor Documentation

fcl::Halfspace::Halfspace ( const Vec3f n_,
FCL_REAL  d_ 
) [inline]

Construct a half space with normal direction and offset.

References unitNormalTest().

fcl::Halfspace::Halfspace ( FCL_REAL  a,
FCL_REAL  b,
FCL_REAL  c,
FCL_REAL  d_ 
) [inline]

Construct a plane with normal direction and offset.

References unitNormalTest().

fcl::Halfspace::Halfspace ( ) [inline]

Member Function Documentation

void fcl::Halfspace::computeLocalAABB ( ) [virtual]

Compute AABB.

Implements fcl::CollisionGeometry.

FCL_REAL fcl::Halfspace::distance ( const Vec3f p) const [inline]

References d, and n.

NODE_TYPE fcl::Halfspace::getNodeType ( ) const [inline, virtual]

Get node type: a half space.

Reimplemented from fcl::CollisionGeometry.

References fcl::GEOM_HALFSPACE.

FCL_REAL fcl::Halfspace::signedDistance ( const Vec3f p) const [inline]

References d, and n.

void fcl::Halfspace::unitNormalTest ( ) [protected]

Turn non-unit normal into unit.

Referenced by Halfspace().


Member Data Documentation

Plane offset.

Referenced by distance(), and signedDistance().

Plane normal.

Referenced by distance(), and signedDistance().

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