BoxShape.hpp

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#ifndef DART_DYNAMICS_BOXSHAPE_HPP_
#define DART_DYNAMICS_BOXSHAPE_HPP_

#include "dart/dynamics/Shape.hpp"

namespace dart {
namespace dynamics {

class BoxShape : public Shape
{
public:
  explicit BoxShape(const Eigen::Vector3d& _size);

  virtual ~BoxShape();

  // Documentation inherited.
  const std::string& getType() const override;

  static const std::string& getStaticType();

  void setSize(const Eigen::Vector3d& _size);

  const Eigen::Vector3d& getSize() const;

  static double computeVolume(const Eigen::Vector3d& size);

  static Eigen::Matrix3d computeInertia(
      const Eigen::Vector3d& size, double mass);

  // Documentation inherited.
  Eigen::Matrix3d computeInertia(double mass) const override;

protected:
  // Documentation inherited.
  void updateBoundingBox() const override;

  // Documentation inherited.
  void updateVolume() const override;

private:
  Eigen::Vector3d mSize;
};

} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_BOXSHAPE_HPP_