Class Sphere

Defined in File geometric_shapes.h

Inheritance Relationships

Base Type

public coal::ShapeBase (Class ShapeBase)

Class Documentation

class Sphere : public coal::ShapeBase 

Center at zero point sphere.

Public Functions

inline Sphere(): Default constructor.

inline explicit Sphere(Scalar radius_)

inline Sphere(const Sphere &other)

inline virtual Sphere *clone() const: Clone *this into a new Sphere.

virtual void computeLocalAABB(): Compute AABB.

inline virtual NODE_TYPE getNodeType() const: Get node type: a sphere.

inline virtual Matrix3s computeMomentofInertia() const: compute the inertia matrix, related to the origin

inline virtual Scalar computeVolume() const: compute the volume

inline Scalar minInflationValue() const

inline std::pair<Sphere, Transform3s> inflated(const Scalar value) const

Inflate the sphere by an amount given by value. This value can be positive or negative but must always >= minInflationValue().

Parameters:: value – [in] of the shape inflation.
Returns:: a new inflated sphere and the related transform to account for the change of shape frame

Public Members

Scalar radius: Radius of the sphere.