CapsuleShape.h

// This file is a part of the OpenSurgSim project.
// Copyright 2013, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef SURGSIM_MATH_CAPSULESHAPE_H
#define SURGSIM_MATH_CAPSULESHAPE_H

#include "SurgSim/Framework/ObjectFactory.h"
#include "SurgSim/Math/Shape.h"

namespace SurgSim
{

namespace Math
{
SURGSIM_STATIC_REGISTRATION(CapsuleShape);

class CapsuleShape: public Shape
{
public:
    explicit CapsuleShape(double length = 0.0, double radius = 0.0);

    SURGSIM_CLASSNAME(SurgSim::Math::CapsuleShape);

    int getType() const override;

    double getLength() const;

    double getRadius() const;

    double getVolume() const override;

    Vector3d getCenter() const override;

    Vector3d topCenter() const;

    Vector3d bottomCenter() const;

    Matrix33d getSecondMomentOfVolume() const override;

    bool isValid() const override;

protected:
    // Setters in 'protected' sections are for serialization purpose only.

    void setLength(double length);

    void setRadius(double radius);
    void updateAabb();
private:
    double m_length;

    double m_radius;
};

}; // Math
}; // SurgSim

#endif // SURGSIM_MATH_CAPSULESHAPE_H