DART  6.10.1
CapsuleShape.hpp
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32 
33 #ifndef DART_DYNAMICS_CAPSULESHAPE_HPP_
34 #define DART_DYNAMICS_CAPSULESHAPE_HPP_
35 
36 #include "dart/dynamics/Shape.hpp"
37 
38 namespace dart {
39 namespace dynamics {
40 
43 class CapsuleShape : public Shape
44 {
45 public:
49  CapsuleShape(double radius, double height);
50 
51  // Documentation inherited.
52  const std::string& getType() const override;
53 
55  static const std::string& getStaticType();
56 
58  double getRadius() const;
59 
61  void setRadius(double radius);
62 
64  double getHeight() const;
65 
67  void setHeight(double height);
68 
72  static double computeVolume(double radius, double height);
73 
78  static Eigen::Matrix3d computeInertia(
79  double radius, double height, double mass);
80 
81  // Documentation inherited.
82  Eigen::Matrix3d computeInertia(double mass) const override;
83 
84 protected:
85  // Documentation inherited.
86  void updateBoundingBox() const override;
87 
88  // Documentation inherited.
89  void updateVolume() const override;
90 
91 private:
93  double mRadius;
94 
96  double mHeight;
97 };
98 
99 } // namespace dynamics
100 } // namespace dart
101 
102 #endif // DART_DYNAMICS_CAPSULESHAPE_HPP_
CapsuleShape represents a three-dimensional geometric shape consisting of a cylinder with hemispheric...
Definition: CapsuleShape.hpp:44
void updateVolume() const override
Updates volume.
Definition: CapsuleShape.cpp:146
double mHeight
Height of the cylindrical part.
Definition: CapsuleShape.hpp:96
static const std::string & getStaticType()
Get shape type string for this shape.
Definition: CapsuleShape.cpp:58
static Eigen::Matrix3d computeInertia(double radius, double height, double mass)
Compute moments of inertia of a capsule.
Definition: CapsuleShape.cpp:106
const std::string & getType() const override
Returns a string representing the shape type.
Definition: CapsuleShape.cpp:52
double getHeight() const
Get the height of the cylindrical part.
Definition: CapsuleShape.cpp:82
double getRadius() const
Get the radius of the capsule.
Definition: CapsuleShape.cpp:65
void setRadius(double radius)
Set the radius of the capsule.
Definition: CapsuleShape.cpp:71
static double computeVolume(double radius, double height)
Compute volume from given properties.
Definition: CapsuleShape.cpp:99
double mRadius
Radius of the capsule.
Definition: CapsuleShape.hpp:93
void setHeight(double height)
Set the height of the cylindrical part.
Definition: CapsuleShape.cpp:88
CapsuleShape(double radius, double height)
Constructor.
Definition: CapsuleShape.cpp:44
void updateBoundingBox() const override
Updates bounding box.
Definition: CapsuleShape.cpp:135
Definition: Shape.hpp:54
Definition: BulletCollisionDetector.cpp:65