LineSegmentShape.hpp

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#ifndef DART_DYNAMICS_LINESEGMENTSHAPE_HPP_
#define DART_DYNAMICS_LINESEGMENTSHAPE_HPP_
 
#include "dart/dynamics/Shape.hpp"
 
namespace dart {
namespace dynamics {
 
class LineSegmentShape : public Shape
{
public:
  LineSegmentShape(float _thickness = 1.0f);
 
  LineSegmentShape(
      const Eigen::Vector3d& _v1,
      const Eigen::Vector3d& _v2,
      float _thickness = 1.0f);
 
  // Documentation inherited.
  const std::string& getType() const override;
 
  static const std::string& getStaticType();
 
  void setThickness(float _thickness);
 
  float getThickness() const;
 
  std::size_t addVertex(const Eigen::Vector3d& _v);
 
  std::size_t addVertex(const Eigen::Vector3d& _v, std::size_t _parent);
 
  void removeVertex(std::size_t _idx);
 
  void setVertex(std::size_t _idx, const Eigen::Vector3d& _v);
 
  const Eigen::Vector3d& getVertex(std::size_t _idx) const;
 
  const std::vector<Eigen::Vector3d>& getVertices() const;
 
  void addConnection(std::size_t _idx1, std::size_t _idx2);
 
  void removeConnection(std::size_t _vertexIdx1, std::size_t _vertexIdx2);
 
  void removeConnection(std::size_t _connectionIdx);
 
  const common::aligned_vector<Eigen::Vector2i>& getConnections() const;
 
  Eigen::Matrix3d computeInertia(double mass) const override;
 
  // TODO(MXG): Consider supporting colors-per-vertex
 
protected:
  // Documentation inherited.
  void updateBoundingBox() const override;
 
  // Documentation inherited
  void updateVolume() const override;
 
  float mThickness;
 
  std::vector<Eigen::Vector3d> mVertices;
 
  common::aligned_vector<Eigen::Vector2i> mConnections;
 
  static const Eigen::Vector3d mDummyVertex;
};
 
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_LINESEGMENTSHAPE_HPP_