DART  6.10.1
MultiSphereConvexHullShape.hpp
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32 
33 #ifndef DART_DYNAMICS_MULTISPHERECONVEXHULLSHAPE_HPP_
34 #define DART_DYNAMICS_MULTISPHERECONVEXHULLSHAPE_HPP_
35 
36 #include <vector>
37 
38 #include "dart/dynamics/Shape.hpp"
39 
40 namespace dart {
41 namespace dynamics {
42 
46 {
47 public:
48  using Sphere = std::pair<double, Eigen::Vector3d>;
49  using Spheres = std::vector<Sphere>;
50 
52  explicit MultiSphereConvexHullShape(const Spheres& spheres);
53 
56 
57  // Documentation inherited.
58  const std::string& getType() const override;
59 
61  static const std::string& getStaticType();
62 
64  void addSpheres(const Spheres& spheres);
65 
67  void addSphere(const Sphere& sphere);
68 
70  void addSphere(double radius, const Eigen::Vector3d& position);
71 
73  void removeAllSpheres();
74 
76  std::size_t getNumSpheres() const;
77 
79  const Spheres& getSpheres() const;
80 
85  Eigen::Matrix3d computeInertia(double mass) const override;
86 
87 protected:
88  // Documentation inherited.
89  void updateBoundingBox() const override;
90 
95  void updateVolume() const override;
96 
97 private:
100 };
101 
102 DART_DEPRECATED(6.2)
104 
105 } // namespace dynamics
106 } // namespace dart
107 
108 #endif // DART_DYNAMICS_MULTISPHERECONVEXHULLSHAPE_HPP_
#define DART_DEPRECATED(version)
Definition: Deprecated.hpp:51
Eigen::VectorXd position
Definition: SkelParser.cpp:108
MultiSphereConvexHullShape represents the convex hull of a collection of spheres.
Definition: MultiSphereConvexHullShape.hpp:46
Eigen::Matrix3d computeInertia(double mass) const override
Compute the inertia of this MultiSphereConvexHullShape.
Definition: MultiSphereConvexHullShape.cpp:124
MultiSphereConvexHullShape(const Spheres &spheres)
Constructor.
Definition: MultiSphereConvexHullShape.cpp:43
std::vector< Sphere > Spheres
Definition: MultiSphereConvexHullShape.hpp:49
void addSphere(const Sphere &sphere)
Add a sphere.
Definition: MultiSphereConvexHullShape.cpp:81
void updateVolume() const override
Update the volume of this MultiSphereConvexHullShape.
Definition: MultiSphereConvexHullShape.cpp:154
std::size_t getNumSpheres() const
Get the number of spheres.
Definition: MultiSphereConvexHullShape.cpp:111
virtual ~MultiSphereConvexHullShape()
Destructor.
Definition: MultiSphereConvexHullShape.cpp:50
std::pair< double, Eigen::Vector3d > Sphere
Definition: MultiSphereConvexHullShape.hpp:48
void addSpheres(const Spheres &spheres)
Add a list of spheres.
Definition: MultiSphereConvexHullShape.cpp:69
void updateBoundingBox() const override
Updates bounding box.
Definition: MultiSphereConvexHullShape.cpp:131
const Spheres & getSpheres() const
Get the set of spheres.
Definition: MultiSphereConvexHullShape.cpp:118
Spheres mSpheres
Spheres.
Definition: MultiSphereConvexHullShape.hpp:99
static const std::string & getStaticType()
Returns shape type for this class.
Definition: MultiSphereConvexHullShape.cpp:62
void removeAllSpheres()
Remove all spheres.
Definition: MultiSphereConvexHullShape.cpp:100
const std::string & getType() const override
Returns a string representing the shape type.
Definition: MultiSphereConvexHullShape.cpp:56
Definition: Shape.hpp:54
Definition: BulletCollisionDetector.cpp:65