DART  6.10.1
BoxShape.hpp
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32 
33 #ifndef DART_DYNAMICS_BOXSHAPE_HPP_
34 #define DART_DYNAMICS_BOXSHAPE_HPP_
35 
36 #include "dart/dynamics/Shape.hpp"
37 
38 namespace dart {
39 namespace dynamics {
40 
41 class BoxShape : public Shape
42 {
43 public:
45  explicit BoxShape(const Eigen::Vector3d& _size);
46 
48  virtual ~BoxShape();
49 
50  // Documentation inherited.
51  const std::string& getType() const override;
52 
54  static const std::string& getStaticType();
55 
57  void setSize(const Eigen::Vector3d& _size);
58 
60  const Eigen::Vector3d& getSize() const;
61 
63  static double computeVolume(const Eigen::Vector3d& size);
64 
66  static Eigen::Matrix3d computeInertia(
67  const Eigen::Vector3d& size, double mass);
68 
69  // Documentation inherited.
70  Eigen::Matrix3d computeInertia(double mass) const override;
71 
72 protected:
73  // Documentation inherited.
74  void updateBoundingBox() const override;
75 
76  // Documentation inherited.
77  void updateVolume() const override;
78 
79 private:
81  Eigen::Vector3d mSize;
82 };
83 
84 } // namespace dynamics
85 } // namespace dart
86 
87 #endif // DART_DYNAMICS_BOXSHAPE_HPP_
Definition: BoxShape.hpp:42
void setSize(const Eigen::Vector3d &_size)
Set size of this box.
Definition: BoxShape.cpp:86
Eigen::Vector3d mSize
Side lengths of the box.
Definition: BoxShape.hpp:81
static const std::string & getStaticType()
Returns shape type for this class.
Definition: BoxShape.cpp:60
static double computeVolume(const Eigen::Vector3d &size)
Compute volume from given properties.
Definition: BoxShape.cpp:67
void updateVolume() const override
Updates volume.
Definition: BoxShape.cpp:119
void updateBoundingBox() const override
Updates bounding box.
Definition: BoxShape.cpp:111
BoxShape(const Eigen::Vector3d &_size)
Constructor.
Definition: BoxShape.cpp:40
const std::string & getType() const override
Returns a string representing the shape type.
Definition: BoxShape.cpp:54
static Eigen::Matrix3d computeInertia(const Eigen::Vector3d &size, double mass)
Compute moments of inertia of a box.
Definition: BoxShape.cpp:73
const Eigen::Vector3d & getSize() const
Get size of this box.
Definition: BoxShape.cpp:99
virtual ~BoxShape()
Destructor.
Definition: BoxShape.cpp:48
Definition: Shape.hpp:54
Definition: BulletCollisionDetector.cpp:65