geometry/shape/halfspace.h

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#ifndef FCL_SHAPE_HALFSPACE_H
#define FCL_SHAPE_HALFSPACE_H

#include <ostream>
#include <string>

#include "fcl/geometry/shape/shape_base.h"
#include "fcl/math/bv/OBB.h"
#include "fcl/math/bv/RSS.h"
#include "fcl/math/bv/OBBRSS.h"
#include "fcl/math/bv/kDOP.h"
#include "fcl/math/bv/kIOS.h"

namespace fcl
{

template <typename S_>
class FCL_EXPORT Halfspace : public ShapeBase<S_>
{
public:

  using S = S_;

  Halfspace(const Vector3<S>& n, S d);

  Halfspace(S a, S b, S c, S d_);

  Halfspace();

  S signedDistance(const Vector3<S>& p) const;

  S distance(const Vector3<S>& p) const;

  void computeLocalAABB() override;

  NODE_TYPE getNodeType() const override;
  
  Vector3<S> n;
  
  S d;

  std::string representation(int precision = 20) const;

  friend
  std::ostream& operator<<(std::ostream& out, const Halfspace& halfspace) {
    out << "Halfspace(n: " << halfspace.n.transpose() << ", d: "
        << halfspace.d << ")";
    return out;
  }

protected:

  void unitNormalTest();
};

using Halfspacef = Halfspace<float>;
using Halfspaced = Halfspace<double>;

template <typename S>
FCL_EXPORT
Halfspace<S> transform(const Halfspace<S>& a, const Transform3<S>& tf);

} // namespace fcl

#include "fcl/geometry/shape/halfspace-inl.h"

#endif