Class Cone

Defined in File geometric_shapes.h

Inheritance Relationships

Base Type

public coal::ShapeBase (Class ShapeBase)

Class Documentation

class Cone : public coal::ShapeBase 

Cone The base of the cone is at \( z = - halfLength \) and the top is at \( z = halfLength \).

Public Functions

inline Cone(): Default constructor.

inline Cone(Scalar radius_, Scalar lz_)

inline Cone(const Cone &other)

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

virtual void computeLocalAABB(): Compute AABB.

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

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

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

inline virtual Vec3s computeCOM() const: compute center of mass

inline Scalar minInflationValue() const

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

Inflate the cone 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 cone and the related transform to account for the change of shape frame

Public Members

Scalar radius: Radius of the cone.

Scalar halfLength: Half Length along z axis.