fcl::Halfspace Class Reference

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. More...

#include <geometric_shapes.h>

Inheritance diagram for fcl::Halfspace:

List of all members.

Public Member Functions
void	computeLocalAABB ()
	Compute AABB.
FCL_REAL	distance (const Vec3f &p) const
NODE_TYPE	getNodeType () const
	Get node type: a half space.
	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
Public Attributes
FCL_REAL	d
	Plane offset.
Vec3f	n
	Plane normal.
Protected Member Functions
void	unitNormalTest ()
	Turn non-unit normal into unit.

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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.

Definition at line 265 of file geometric_shapes.h.

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Constructor & Destructor Documentation

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

Construct a half space with normal direction and offset.

Definition at line 269 of file geometric_shapes.h.

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

Construct a plane with normal direction and offset.

Definition at line 275 of file geometric_shapes.h.

fcl::Halfspace::Halfspace

(

)

[inline]

Definition at line 280 of file geometric_shapes.h.

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Member Function Documentation

void fcl::Halfspace::computeLocalAABB

(

)

[virtual]

Compute AABB.

Implements fcl::CollisionGeometry.

Definition at line 175 of file geometric_shapes.cpp.

FCL_REAL fcl::Halfspace::distance

(

const Vec3f &

p

)

const [inline]

Definition at line 289 of file geometric_shapes.h.

NODE_TYPE fcl::Halfspace::getNodeType

(

)

const [inline, virtual]

Get node type: a half space.

Reimplemented from fcl::CollisionGeometry.

Definition at line 298 of file geometric_shapes.h.

FCL_REAL fcl::Halfspace::signedDistance

(

const Vec3f &

p

)

const [inline]

Definition at line 284 of file geometric_shapes.h.

void fcl::Halfspace::unitNormalTest

(

)

[protected]

Turn non-unit normal into unit.

Definition at line 100 of file geometric_shapes.cpp.

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Member Data Documentation

FCL_REAL fcl::Halfspace::d

Plane offset.

Definition at line 304 of file geometric_shapes.h.

Vec3f fcl::Halfspace::n

Plane normal.

Definition at line 301 of file geometric_shapes.h.

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The documentation for this class was generated from the following files:

• geometric_shapes.h
• geometric_shapes.cpp