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16 #ifndef SURGSIM_MATH_DOUBLESIDEDPLANESHAPE_H
17 #define SURGSIM_MATH_DOUBLESIDEDPLANESHAPE_H
27 SURGSIM_STATIC_REGISTRATION(DoubleSidedPlaneShape);
71 #endif // SURGSIM_MATH_DOUBLESIDEDPLANESHAPE_H
Matrix33d getSecondMomentOfVolume() const override
Get the second central moment of the volume, commonly used to calculate the moment of inertia matrix.
Definition: DoubleSidedPlaneShape.cpp:43
::SurgSim::Math::Matrix33d Matrix33d
Definition: Shape.h:69
double getVolume() const override
Get the volume of the shape.
Definition: DoubleSidedPlaneShape.cpp:33
DoubleSidedPlaneShape: The XZ plane (d = 0) with normal pointing along positive Y axis.
Definition: DoubleSidedPlaneShape.h:32
Definition: CompoundShapeToGraphics.cpp:30
SURGSIM_CLASSNAME(SurgSim::Math::DoubleSidedPlaneShape)
double getD() const
Gets the d of the plane equation.
Definition: DoubleSidedPlaneShape.cpp:48
Vector3d getNormal() const
Gets the normal of the plane equation.
Definition: DoubleSidedPlaneShape.cpp:53
int getType() const override
Definition: DoubleSidedPlaneShape.cpp:28
Generic rigid shape class defining a shape.
Definition: Shape.h:66
::SurgSim::Math::Vector3d Vector3d
Definition: Shape.h:68
bool isValid() const override
A DoubleSidedPlaneShape is always valid.
Definition: DoubleSidedPlaneShape.cpp:58
DoubleSidedPlaneShape()
Constructor.
Definition: DoubleSidedPlaneShape.cpp:24
Vector3d getCenter() const override
Get the volumetric center of the shape.
Definition: DoubleSidedPlaneShape.cpp:38