17 namespace PlanarHelper {
31 const auto& tMatrix = transform.matrix();
32 const Vector3 pnormal = tMatrix.block<3, 1>(0, 2).transpose();
33 const Vector3 pcenter = tMatrix.block<3, 1>(0, 3).transpose();
41 ? Intersection3D::Status::onSurface
42 : Intersection3D::Status::reachable;
44 return Intersection3D{(position + path * direction), path, status};