5 #ifndef CNOID_UTIL_POLYHEDRAL_REGION_H 6 #define CNOID_UTIL_POLYHEDRAL_REGION_H 25 d = normal.dot(point);
31 void clear() { planes.clear(); }
34 planes.push_back(
Plane(normal, point));
37 const Plane&
plane(
int index)
const {
return planes[index]; }
40 for(
size_t i=0; i < planes.size(); ++i){
41 const Plane& p = planes[i];
42 if(point.dot(p.
normal) - p.
d < 0.0){
50 std::vector<Plane> planes;
PolyhedralRegion(const PolyhedralRegion &org)
Definition: PolyhedralRegion.h:17
Vector3 normal
Definition: PolyhedralRegion.h:21
PolyhedralRegion & operator=(const PolyhedralRegion &org)
Definition: PolyhedralRegion.h:18
Plane(const Vector3 &normal, const Vector3 &point)
Definition: PolyhedralRegion.h:24
const Plane & plane(int index) const
Definition: PolyhedralRegion.h:37
Definition: PolyhedralRegion.h:13
void clear()
Definition: PolyhedralRegion.h:31
Definition: PolyhedralRegion.h:20
Vector3 point
Definition: PolyhedralRegion.h:22
Defines the minimum processing for performing pasing file for STL.
Definition: AbstractSceneLoader.h:9
bool checkInside(const Vector3 &point) const
Definition: PolyhedralRegion.h:39
int numBoundingPlanes() const
Definition: PolyhedralRegion.h:29
Eigen::Vector3d Vector3
Definition: EigenTypes.h:58
double d
Definition: PolyhedralRegion.h:23
void addBoundingPlane(const Vector3 &normal, const Vector3 &point)
Definition: PolyhedralRegion.h:33
PolyhedralRegion()
Definition: PolyhedralRegion.h:16