DART  6.10.1
SphereShape.hpp
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32 
33 #ifndef DART_DYNAMICS_SPHERESHAPE_HPP_
34 #define DART_DYNAMICS_SPHERESHAPE_HPP_
35 
36 #include "dart/dynamics/Shape.hpp"
37 
38 namespace dart {
39 namespace dynamics {
40 
41 class SphereShape : public Shape
42 {
43 public:
45  explicit SphereShape(double radius);
46 
48  virtual ~SphereShape();
49 
50  // Documentation inherited.
51  const std::string& getType() const override;
52 
54  static const std::string& getStaticType();
55 
57  void setRadius(double radius);
58 
60  double getRadius() const;
61 
63  static double computeVolume(double radius);
64 
66  static Eigen::Matrix3d computeInertia(double radius, double mass);
67 
68  // Documentation inherited.
69  Eigen::Matrix3d computeInertia(double mass) const override;
70 
71 protected:
72  // Documentation inherited.
73  void updateBoundingBox() const override;
74 
75  // Documentation inherited.
76  void updateVolume() const override;
77 
78 private:
80  double mRadius;
81 };
82 
83 } // namespace dynamics
84 } // namespace dart
85 
86 #endif // DART_DYNAMICS_SPHERESHAPE_HPP_
Definition: Shape.hpp:54
Definition: SphereShape.hpp:42
static double computeVolume(double radius)
Compute volume from given properties.
Definition: SphereShape.cpp:85
const std::string & getType() const override
Returns a string representing the shape type.
Definition: SphereShape.cpp:53
static Eigen::Matrix3d computeInertia(double radius, double mass)
Compute moments of inertia of a Sphere.
Definition: SphereShape.cpp:91
SphereShape(double radius)
Constructor.
Definition: SphereShape.cpp:41
void updateBoundingBox() const override
Updates bounding box.
Definition: SphereShape.cpp:109
void updateVolume() const override
Updates volume.
Definition: SphereShape.cpp:117
double mRadius
Radius of this Sphere.
Definition: SphereShape.hpp:80
virtual ~SphereShape()
Destructor.
Definition: SphereShape.cpp:47
void setRadius(double radius)
Set radius of this box.
Definition: SphereShape.cpp:66
double getRadius() const
Get radius of this box.
Definition: SphereShape.cpp:79
static const std::string & getStaticType()
Returns shape type for this class.
Definition: SphereShape.cpp:59
Definition: BulletCollisionDetector.cpp:65