IcePlane.cpp
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00020 // Precompiled Header
00021 #include "Stdafx.h"
00022 
00023 using namespace IceMaths;
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00034 Plane& Plane::Set(const Point& p0, const Point& p1, const Point& p2)
00035 {
00036         Point Edge0 = p1 - p0;
00037         Point Edge1 = p2 - p0;
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00039         n = Edge0 ^ Edge1;
00040         n.Normalize();
00041 
00042         d = -(p0 | n);
00043 
00044         return  *this;
00045 }


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Sun Apr 2 2017 03:43:54