MultiSphereConvexHullShape.hpp

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#ifndef DART_DYNAMICS_MULTISPHERECONVEXHULLSHAPE_HPP_
#define DART_DYNAMICS_MULTISPHERECONVEXHULLSHAPE_HPP_
 
#include <vector>
 
#include "dart/dynamics/Shape.hpp"
 
namespace dart {
namespace dynamics {
 
class MultiSphereConvexHullShape : public Shape
{
public:
 
  using Sphere = std::pair<double, Eigen::Vector3d>;
  using Spheres = std::vector<Sphere>;
 
  explicit MultiSphereConvexHullShape(const Spheres& spheres);
 
  virtual ~MultiSphereConvexHullShape();
 
  // Documentation inherited.
  const std::string& getType() const override;
 
  static const std::string& getStaticType();
 
  void addSpheres(const Spheres& spheres);
 
  void addSphere(const Sphere& sphere);
 
  void addSphere(double radius, const Eigen::Vector3d& position);
 
  void removeAllSpheres();
 
  std::size_t getNumSpheres() const;
 
  const Spheres& getSpheres() const;
 
  Eigen::Matrix3d computeInertia(double mass) const override;
 
protected:
  // Documentation inherited.
  void updateBoundingBox() const override;
 
  void updateVolume() const override;
 
private:
  Spheres mSpheres;
};
 
DART_DEPRECATED(6.2)
typedef MultiSphereConvexHullShape MultiSphereShape;
 
}  // namespace dynamics
}  // namespace dart
 
#endif  // DART_DYNAMICS_MULTISPHERECONVEXHULLSHAPE_HPP_