SAFETY_ZONE_SHAPE_MULTI_PLANE

This structure defines a multi-plane safety zone, composed of up to six planar boundaries that collectively form a custom-shaped 3D restricted region. It is primarily used to create complex convex boundaries with configurable Z-axis limits.

BYTE#	Field Name	Data Type	Value	Remarks
0	_iValidPlane	unsigned char[6]	0 or 1	Plane validity flag array (0: inactive, 1: valid plane)
6	_tPlane	LINE_2D [6]		Line equation defining each plane in 2D (used to describe planar boundaries)
102	_fZLoLimit	float		Lower Z limit of the multi-plane region
106	_fZUpLimit	float		Upper Z limit of the multi-plane region
110	_tSpacePoint	POINT_2D		Reference point used to define spatial relation (inside/outside) of the zone

Total size: 118 bytes

Defined in: DRFS.h

typedef struct _SAFETY_ZONE_SHAPE_MULTI_PLANE
{
    /* plane validity flag (1: valid, 0: invalid) */
    unsigned char _iValidPlane[6];
    /* plane definitions (line representation) */
    LINE_2D _tPlane[6];
    /* height limits */
    float _fZLoLimit;
    float _fZUpLimit;
    /* reference point for inside/outside space determination */
    POINT_2D _tSpacePoint;
} SAFETY_ZONE_SHAPE_MULTI_PLANE, *LPSAFETY_ZONE_SHAPE_MULTI_PLANE;