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SphereShape.h
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1 // This file is a part of the OpenSurgSim project.
2 // Copyright 2013, SimQuest Solutions Inc.
3 //
4 // Licensed under the Apache License, Version 2.0 (the "License");
5 // you may not use this file except in compliance with the License.
6 // You may obtain a copy of the License at
7 //
8 // http://www.apache.org/licenses/LICENSE-2.0
9 //
10 // Unless required by applicable law or agreed to in writing, software
11 // distributed under the License is distributed on an "AS IS" BASIS,
12 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 // See the License for the specific language governing permissions and
14 // limitations under the License.
15 
16 #ifndef SURGSIM_MATH_SPHERESHAPE_H
17 #define SURGSIM_MATH_SPHERESHAPE_H
18 
20 #include "SurgSim/Math/Shape.h"
21 
22 namespace SurgSim
23 {
24 
25 namespace Math
26 {
27 SURGSIM_STATIC_REGISTRATION(SphereShape);
28 
30 class SphereShape: public Shape
31 {
32 public:
35  explicit SphereShape(double radius = 0.0);
36 
38 
40  virtual int getType() override;
41 
44  double getRadius() const;
45 
48  virtual double getVolume() const override;
49 
52  virtual Vector3d getCenter() const override;
53 
57  virtual Matrix33d getSecondMomentOfVolume() const override;
58 
60  virtual bool isValid() const override;
61 
62 protected:
63  // Setters in 'protected' sections are for serialization purpose only.
64 
67  void setRadius(double radius);
68 
69 private:
71  double m_radius;
72 };
73 
74 }; // Math
75 }; // SurgSim
76 
77 #endif // SURGSIM_MATH_SPHERESHAPE_H
virtual bool isValid() const override
Definition: SphereShape.cpp:67
SphereShape(double radius=0.0)
Constructor.
Definition: SphereShape.cpp:24
virtual int getType() override
Definition: SphereShape.cpp:29
SURGSIM_STATIC_REGISTRATION(BoxShape)
::SurgSim::Math::Vector3d Vector3d
Definition: Shape.h:62
double getRadius() const
Get the sphere radius.
Definition: SphereShape.cpp:34
virtual Matrix33d getSecondMomentOfVolume() const override
Get the second central moment of the volume, commonly used to calculate the moment of inertia matrix...
Definition: SphereShape.cpp:54
double m_radius
Sphere radius.
Definition: SphereShape.h:71
Sphere shape: sphere centered on (0 0 0), defined with radius.
Definition: SphereShape.h:30
SURGSIM_CLASSNAME(SurgSim::Math::SphereShape)
::SurgSim::Math::Matrix33d Matrix33d
Definition: Shape.h:63
virtual double getVolume() const override
Get the volume of the shape.
Definition: SphereShape.cpp:44
void setRadius(double radius)
Set the sphere radius.
Definition: SphereShape.cpp:39
virtual Vector3d getCenter() const override
Get the volumetric center of the shape.
Definition: SphereShape.cpp:49
Generic rigid shape class defining a shape.
Definition: Shape.h:59