/*
 * Copyright (c) 2011-2019, The DART development contributors
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 *   without modification, are permitted provided that the following
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#include "dart/collision/ode/detail/OdePlane.hpp"

#include "dart/dynamics/PlaneShape.hpp"

namespace dart {
namespace collision {
namespace detail {

//==============================================================================
OdePlane::OdePlane(
    const OdeCollisionObject* parent,
    const Eigen::Vector3d& normal,
    double offset)
  : OdeGeom(parent)
{
  mGeomId = dCreatePlane(0, normal.x(), normal.y(), normal.z(), offset);
}

//==============================================================================
OdePlane::~OdePlane()
{
  dGeomDestroy(mGeomId);
}

//==============================================================================
void OdePlane::updateEngineData()
{
  const Eigen::Isometry3d& tf = mParentCollisionObject->getTransform();
  const Eigen::Vector3d pos = tf.translation();
  const Eigen::Matrix3d rot = tf.linear();

  auto plane = static_cast<const dynamics::PlaneShape*>(
      mParentCollisionObject->getShape().get());
  const Eigen::Vector3d& normal = plane->getNormal();
  const double offset = plane->getOffset();

  const Eigen::Vector3d& normal2 = rot * normal;
  const double offset2 = offset + pos.dot(normal2);

  dGeomPlaneSetParams(mGeomId, normal2.x(), normal2.y(), normal2.z(), offset2);
}

//==============================================================================
bool OdePlane::isPlaceable() const
{
  return false;
}

} // namespace detail
} // namespace collision
} // namespace dart
