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