CapsuleShape.hpp

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#ifndef DART_DYNAMICS_CAPSULESHAPE_HPP_
#define DART_DYNAMICS_CAPSULESHAPE_HPP_
 
#include "dart/dynamics/Shape.hpp"
 
namespace dart {
namespace dynamics {
 
class CapsuleShape : public Shape
{
public:
  CapsuleShape(double radius, double height);
 
  // Documentation inherited.
  const std::string& getType() const override;
 
  static const std::string& getStaticType();
 
  double getRadius() const;
 
  void setRadius(double radius);
 
  double getHeight() const;
 
  void setHeight(double height);
 
  static double computeVolume(double radius, double height);
 
  static Eigen::Matrix3d computeInertia(
      double radius, double height, double mass);
 
  // Documentation inherited.
  Eigen::Matrix3d computeInertia(double mass) const override;
 
protected:
  // Documentation inherited.
  void updateBoundingBox() const override;
 
  // Documentation inherited.
  void updateVolume() const override;
 
private:
  double mRadius;
 
  double mHeight;
};
 
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_CAPSULESHAPE_HPP_