geometry/shape/plane.h

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#ifndef FCL_SHAPE_PLANE_H
#define FCL_SHAPE_PLANE_H

#include <ostream>
#include <string>

#include "fcl/geometry/shape/shape_base.h"

namespace fcl
{

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

  using S = S_;

  Plane(const Vector3<S>& n, S d);
  
  Plane(S a, S b, S c, S d);

  Plane();

  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 Plane& plane) {
    out << "Plane(n: " << plane.n.transpose() << ", d: " << plane.d << ")";
    return out;
  }

protected:
  
  void unitNormalTest();
};

using Planef = Plane<float>;
using Planed = Plane<double>;

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

} // namespace fcl

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

#endif