1 /* 2 * Copyright (c) 2011-2021, The DART development contributors 3 * All rights reserved. 4 * 5 * The list of contributors can be found at: 6 * https://github.com/dartsim/dart/blob/master/LICENSE 7 * 8 * This file is provided under the following "BSD-style" License: 9 * Redistribution and use in source and binary forms, with or 10 * without modification, are permitted provided that the following 11 * conditions are met: 12 * * Redistributions of source code must retain the above copyright 13 * notice, this list of conditions and the following disclaimer. 14 * * Redistributions in binary form must reproduce the above 15 * copyright notice, this list of conditions and the following 16 * disclaimer in the documentation and/or other materials provided 17 * with the distribution. 18 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND 19 * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, 20 * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF 21 * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 22 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR 23 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 24 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 25 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF 26 * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED 27 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 28 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 29 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 30 * POSSIBILITY OF SUCH DAMAGE. 31 */ 32 33 #ifndef DART_DYNAMICS_SPHERESHAPE_HPP_ 34 #define DART_DYNAMICS_SPHERESHAPE_HPP_ 35 36 #include "dart/dynamics/Shape.hpp" 37 38 namespace dart { 39 namespace dynamics { 40 41 class SphereShape : public Shape 42 { 43 public: 44 /// Constructor. 45 explicit SphereShape(double radius); 46 47 /// Destructor. 48 virtual ~SphereShape(); 49 50 // Documentation inherited. 51 const std::string& getType() const override; 52 53 /// Returns shape type for this class 54 static const std::string& getStaticType(); 55 56 /// Set radius of this box. 57 void setRadius(double radius); 58 59 /// Get radius of this box. 60 double getRadius() const; 61 62 /// Compute volume from given properties 63 static double computeVolume(double radius); 64 65 /// Compute moments of inertia of a Sphere 66 static Eigen::Matrix3d computeInertia(double radius, double mass); 67 68 // Documentation inherited. 69 Eigen::Matrix3d computeInertia(double mass) const override; 70 71 protected: 72 // Documentation inherited. 73 void updateBoundingBox() const override; 74 75 // Documentation inherited. 76 void updateVolume() const override; 77 78 private: 79 /// Radius of this Sphere 80 double mRadius; 81 }; 82 83 } // namespace dynamics 84 } // namespace dart 85 86 #endif // DART_DYNAMICS_SPHERESHAPE_HPP_ 87