16 #ifndef SURGSIM_MATH_SPHERESHAPE_H 17 #define SURGSIM_MATH_SPHERESHAPE_H 27 SURGSIM_STATIC_REGISTRATION(SphereShape);
79 #endif // SURGSIM_MATH_SPHERESHAPE_H bool isValid() const override
Definition: SphereShape.cpp:76
void updateAabb()
Definition: SphereShape.cpp:46
SphereShape(double radius=0.0)
Constructor.
Definition: SphereShape.cpp:24
Definition: CompoundShapeToGraphics.cpp:29
::SurgSim::Math::Vector3d Vector3d
Definition: Shape.h:68
double getRadius() const
Get the sphere radius.
Definition: SphereShape.cpp:35
Matrix33d getSecondMomentOfVolume() const override
Get the second central moment of the volume, commonly used to calculate the moment of inertia matrix...
Definition: SphereShape.cpp:63
double m_radius
Sphere radius.
Definition: SphereShape.h:72
Sphere shape: sphere centered on (0 0 0), defined with radius.
Definition: SphereShape.h:30
int getType() const override
Definition: SphereShape.cpp:30
SURGSIM_CLASSNAME(SurgSim::Math::SphereShape)
::SurgSim::Math::Matrix33d Matrix33d
Definition: Shape.h:69
double getVolume() const override
Get the volume of the shape.
Definition: SphereShape.cpp:53
void setRadius(double radius)
Set the sphere radius.
Definition: SphereShape.cpp:40
Vector3d getCenter() const override
Get the volumetric center of the shape.
Definition: SphereShape.cpp:58
Generic rigid shape class defining a shape.
Definition: Shape.h:65