sphere.h

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#ifndef FCL_SHAPE_SPHERE_H
#define FCL_SHAPE_SPHERE_H

#include "fcl/geometry/shape/shape_base.h"

namespace fcl
{

template <typename S_>
class Sphere : public ShapeBase<S_>
{
public:

  using S = S_;

  Sphere(S radius);

  S radius;

  void computeLocalAABB() override;

  NODE_TYPE getNodeType() const override;

  Matrix3<S> computeMomentofInertia() const override;

  S computeVolume() const override;

  std::vector<Vector3<S>> getBoundVertices(const Transform3<S>& tf) const;
};

using Spheref = Sphere<float>;
using Sphered = Sphere<double>;

} // namespace fcl

#include "fcl/geometry/shape/sphere-inl.h"

#endif