CollisionPlane.h

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#ifndef COLLISIONPLANE_H
#define COLLISIONPLANE_H

#include <vector>
#include "Collision/Collision.h"
#include "cppTypes.h"

template <typename T>
class CollisionPlane : public Collision<T> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  CollisionPlane(const T& mu, const T& restitution, const T& height)
      : Collision<T>(mu, restitution), _height(height) {}

  virtual ~CollisionPlane() {}

  virtual bool ContactDetection(const Vec3<T>& cp_pos, T& penetration,
                                Mat3<T>& cp_frame);

 private:
  T _height;
};

#endif  // COLLISION_PLANE_H