FCL  0.6.0
Flexible Collision Library
sphere.h
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35 
38 #ifndef FCL_SHAPE_SPHERE_H
39 #define FCL_SHAPE_SPHERE_H
40 
41 #include "fcl/geometry/shape/shape_base.h"
42 
43 namespace fcl
44 {
45 
47 template <typename S_>
48 class Sphere : public ShapeBase<S_>
49 {
50 public:
51 
52  using S = S_;
53 
54  Sphere(S radius);
55 
57  S radius;
58 
60  void computeLocalAABB() override;
61 
63  NODE_TYPE getNodeType() const override;
64 
65  Matrix3<S> computeMomentofInertia() const override;
66 
67  S computeVolume() const override;
68 
71  std::vector<Vector3<S>> getBoundVertices(const Transform3<S>& tf) const;
72 };
73 
74 using Spheref = Sphere<float>;
75 using Sphered = Sphere<double>;
76 
77 } // namespace fcl
78 
79 #include "fcl/geometry/shape/sphere-inl.h"
80 
81 #endif
NODE_TYPE
traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS, KDOP16, KDOP18, kDOP24), basic shape (box, sphere, ellipsoid, capsule, cone, cylinder, convex, plane, halfspace, triangle), and octree
Definition: collision_geometry.h:54
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
Base class for all basic geometric shapes.
Definition: shape_base.h:48
Matrix3< S > computeMomentofInertia() const override
compute the inertia matrix, related to the origin
Definition: sphere-inl.h:75
std::vector< Vector3< S > > getBoundVertices(const Transform3< S > &tf) const
get the vertices of some convex shape which can bound this shape in a specific configuration ...
Definition: sphere-inl.h:91
void computeLocalAABB() override
Compute AABB<S>
Definition: sphere-inl.h:58
S radius
Radius of the sphere.
Definition: sphere.h:57
Center at zero point sphere.
Definition: sphere.h:48
S computeVolume() const override
compute the volume
Definition: sphere-inl.h:84
NODE_TYPE getNodeType() const override
Get node type: a sphere.
Definition: sphere-inl.h:69