16 #ifndef SURGSIM_MATH_CYLINDERSHAPE_H 17 #define SURGSIM_MATH_CYLINDERSHAPE_H 27 SURGSIM_STATIC_REGISTRATION(CylinderShape);
37 explicit CylinderShape(
double length = 0.0,
double radius = 0.0);
93 #endif // SURGSIM_MATH_CYLINDERSHAPE_H Definition: CompoundShapeToGraphics.cpp:29
bool isValid() const override
Definition: CylinderShape.cpp:92
double getLength() const
Get the cylinder length.
Definition: CylinderShape.cpp:36
::SurgSim::Math::Vector3d Vector3d
Definition: Shape.h:68
CylinderShape(double length=0.0, double radius=0.0)
Constructor.
Definition: CylinderShape.cpp:24
Matrix33d getSecondMomentOfVolume() const override
Get the second central moment of the volume, commonly used to calculate the moment of inertia matrix...
Definition: CylinderShape.cpp:76
Cylinder shape: centered on (0 0 0), aligned along Y, defined with length and radius.
Definition: CylinderShape.h:31
Vector3d getCenter() const override
Get the volumetric center of the shape.
Definition: CylinderShape.cpp:71
double getVolume() const override
Get the volume of the shape.
Definition: CylinderShape.cpp:66
int getType() const override
Definition: CylinderShape.cpp:31
SURGSIM_CLASSNAME(SurgSim::Math::CylinderShape)
void setLength(double length)
Set the cylinder length.
Definition: CylinderShape.cpp:47
double m_radius
The cylinder radius.
Definition: CylinderShape.h:87
::SurgSim::Math::Matrix33d Matrix33d
Definition: Shape.h:69
void setRadius(double radius)
Set the cylinder radius.
Definition: CylinderShape.cpp:53
double getRadius() const
Get the cylinder radius.
Definition: CylinderShape.cpp:41
double m_length
The cylinder length.
Definition: CylinderShape.h:84
void updateAabb()
Definition: CylinderShape.cpp:59
Generic rigid shape class defining a shape.
Definition: Shape.h:65