CollisionPlane.cpp

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#include "Collision/CollisionPlane.h"

template <typename T>
bool CollisionPlane<T>::ContactDetection(const Vec3<T>& cp_pos, T& penetration,
                                         Mat3<T>& cp_frame) {
  if (cp_pos[2] < _height) {
    penetration = cp_pos[2] - _height;
    cp_frame.setIdentity();
    return true;
  } else {
    return false;
  }
}

template class CollisionPlane<double>;
template class CollisionPlane<float>;