SphereShape.hpp

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#ifndef DART_DYNAMICS_SPHERESHAPE_HPP_
#define DART_DYNAMICS_SPHERESHAPE_HPP_
 
#include "dart/dynamics/Shape.hpp"
 
namespace dart {
namespace dynamics {
 
class SphereShape : public Shape
{
public:
  explicit SphereShape(double radius);
 
  virtual ~SphereShape();
 
  // Documentation inherited.
  const std::string& getType() const override;
 
  static const std::string& getStaticType();
 
  void setRadius(double radius);
 
  double getRadius() const;
 
  static double computeVolume(double radius);
 
  static Eigen::Matrix3d computeInertia(double radius, 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;
};
 
}  // namespace dynamics
}  // namespace dart
 
#endif  // DART_DYNAMICS_SPHERESHAPE_HPP_