capsule.h

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#ifndef FCL_SHAPE_CAPSULE_H
#define FCL_SHAPE_CAPSULE_H

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

namespace fcl
{

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

  using S = S_;

  Capsule(S radius, S lz);

  S radius;

  S lz;

  void computeLocalAABB() override;

  NODE_TYPE getNodeType() const override;

  // Documentation inherited
  S computeVolume() const override;

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

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

using Capsulef = Capsule<float>;
using Capsuled = Capsule<double>;

} // namespace fcl

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

#endif