/usr/include/kido/dynamics/PlaneShape.hpp is in libkido-dev 0.1.0+dfsg-2build9.
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* Copyright (c) 2013-2015, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Jeongseok Lee <jslee02@gmail.com>
*
* Georgia Tech Graphics Lab and Humanoid Robotics Lab
*
* Directed by Prof. C. Karen Liu and Prof. Mike Stilman
* <karenliu@cc.gatech.edu> <mstilman@cc.gatech.edu>
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef KIDO_DYNAMICS_PLANESHAPE_HPP_
#define KIDO_DYNAMICS_PLANESHAPE_HPP_
#include "kido/dynamics/Shape.hpp"
namespace kido {
namespace dynamics {
/// PlaneShape represents infinite plane has normal and offset as properties.
class PlaneShape : public Shape
{
public:
/// Constructor
PlaneShape(const Eigen::Vector3d& _normal, double _offset);
/// Constructor
PlaneShape(const Eigen::Vector3d& _normal, const Eigen::Vector3d& _point);
// Documentation inherited.
// TODO(JS): Not implemented yet
void draw(renderer::RenderInterface* _ri = nullptr,
const Eigen::Vector4d& _col = Eigen::Vector4d::Ones(),
bool _default = true) const;
// Documentation inherited.
Eigen::Matrix3d computeInertia(double mass) const override;
/// Set plane normal
void setNormal(const Eigen::Vector3d& _normal);
/// Get plane normal
const Eigen::Vector3d& getNormal() const;
/// Set plane offset
void setOffset(double _offset);
/// Get plane offset
double getOffset() const;
/// Set plane normal and offset
void setNormalAndOffset(const Eigen::Vector3d& _normal, double _offset);
/// Set plane normal and point
void setNormalAndPoint(const Eigen::Vector3d& _normal,
const Eigen::Vector3d& _point);
/// Compute distance between the plane and the given point
double computeDistance(const Eigen::Vector3d& _point) const;
/// Compute signed distance between the plane and the given point
double computeSignedDistance(const Eigen::Vector3d& _point) const;
private:
// Documentation inherited.
void updateVolume() override;
/// Plane normal
Eigen::Vector3d mNormal;
/// Plane offset
double mOffset;
public:
// To get byte-aligned Eigen vectors
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
} // namespace dynamics
} // namespace kido
#endif // KIDO_DYNAMICS_PLANESHAPE_HPP_
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