/usr/include/SurgSim/Math/PlaneShape.h is in libopensurgsim-dev 0.7.0-5.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 | // This file is a part of the OpenSurgSim project.
// Copyright 2013, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef SURGSIM_MATH_PLANESHAPE_H
#define SURGSIM_MATH_PLANESHAPE_H
#include "SurgSim/Framework/ObjectFactory.h"
#include "SurgSim/Math/Shape.h"
namespace SurgSim
{
namespace Math
{
SURGSIM_STATIC_REGISTRATION(PlaneShape);
/// The XZ plane (d = 0) with normal pointing along positive Y axis.
/// The difference between PlaneShape and DoubleSidedPlane shape is in the way the Physics scene
/// handles these in terms of collision detection. While the DoubleSidedPlane is handled as a thin
/// solid of (essentially) zero thickness and space on either side it, the PlaneShape is considered
/// to be a entirely solid on the side of the plane which is opposite to the normal. It is made of
/// space only on the positive side of the plane normal. This results in having a robust collision
/// object which does not let any objects through, and could be useful to define the scene floor.
class PlaneShape: public Shape
{
public:
/// Constructor: No members to initialize.
PlaneShape();
SURGSIM_CLASSNAME(SurgSim::Math::PlaneShape);
/// \return the type of the shape
int getType() const override;
/// Get the volume of the shape
/// \return The volume of the shape (in m-3)
double getVolume() const override;
/// Get the volumetric center of the shape
/// \return The center of the shape
Vector3d getCenter() const override;
/// Get the second central moment of the volume, commonly used
/// to calculate the moment of inertia matrix
/// \return The 3x3 symmetric second moment matrix
Matrix33d getSecondMomentOfVolume() const override;
/// Gets the d of the plane equation.
/// \return The value of d (always 0).
double getD() const;
/// Gets the normal of the plane equation.
/// \return The value of the normal (always Y axis).
Vector3d getNormal() const;
/// A PlaneShape is always valid.
/// \return True.
bool isValid() const override;
};
}; // Math
}; // SurgSim
#endif // SURGSIM_MATH_PLANESHAPE_H
|