MultiSphereConvexHullShape.hpp

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#ifndef DART_DYNAMICS_MULTISPHERECONVEXHULLSHAPE_HPP_
#define DART_DYNAMICS_MULTISPHERECONVEXHULLSHAPE_HPP_

#include <vector>

#include "dart/dynamics/Shape.hpp"

namespace dart {
namespace dynamics {

class MultiSphereConvexHullShape : public Shape
{
public:
  using Sphere = std::pair<double, Eigen::Vector3d>;
  using Spheres = std::vector<Sphere>;

  explicit MultiSphereConvexHullShape(const Spheres& spheres);

  virtual ~MultiSphereConvexHullShape();

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

  static const std::string& getStaticType();

  void addSpheres(const Spheres& spheres);

  void addSphere(const Sphere& sphere);

  void addSphere(double radius, const Eigen::Vector3d& position);

  void removeAllSpheres();

  std::size_t getNumSpheres() const;

  const Spheres& getSpheres() const;

  Eigen::Matrix3d computeInertia(double mass) const override;

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

  void updateVolume() const override;

private:
  Spheres mSpheres;
};

DART_DEPRECATED(6.2)
typedef MultiSphereConvexHullShape MultiSphereShape;

} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_MULTISPHERECONVEXHULLSHAPE_HPP_