ellipsoid.h

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#ifndef FCL_SHAPE_ELLIPSOID_H
#define FCL_SHAPE_ELLIPSOID_H

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

namespace fcl
{

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

  using S = S_;

  Ellipsoid(S a, S b, S c);

  Ellipsoid(const Vector3<S>& radii);

  Vector3<S> radii;

  void computeLocalAABB() override;

  NODE_TYPE getNodeType() const override;

  // Documentation inherited
  Matrix3<S> computeMomentofInertia() const override;

  // Documentation inherited
  S computeVolume() const override;

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

using Ellipsoidf = Ellipsoid<float>;
using Ellipsoidd = Ellipsoid<double>;

} // namespace fcl

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

#endif