PlaneShape.hpp

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#ifndef DART_DYNAMICS_PLANESHAPE_HPP_
#define DART_DYNAMICS_PLANESHAPE_HPP_

#include "dart/dynamics/Shape.hpp"

namespace dart {
namespace dynamics {

class PlaneShape : public Shape
{
public:
  PlaneShape(const Eigen::Vector3d& _normal, double _offset);

  PlaneShape(const Eigen::Vector3d& _normal, const Eigen::Vector3d& _point);

  // Documentation inherited.
  const std::string& getType() const override;

  static const std::string& getStaticType();

  // Documentation inherited.
  Eigen::Matrix3d computeInertia(double mass) const override;

  void setNormal(const Eigen::Vector3d& _normal);

  const Eigen::Vector3d& getNormal() const;

  void setOffset(double _offset);

  double getOffset() const;

  void setNormalAndOffset(const Eigen::Vector3d& _normal, double _offset);

  void setNormalAndPoint(
      const Eigen::Vector3d& _normal, const Eigen::Vector3d& _point);

  double computeDistance(const Eigen::Vector3d& _point) const;

  double computeSignedDistance(const Eigen::Vector3d& _point) const;

private:
  // Documentation inherited.
  void updateBoundingBox() const override;

  // Documentation inherited.
  void updateVolume() const override;

  Eigen::Vector3d mNormal;

  double mOffset;
};

} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_PLANESHAPE_HPP_