box.hpp

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// Copyright (c) JSim contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the LGPLv3 license file in the root directory of this project.
 
#pragma once
 
#include "frcsim/collision_shapes/shape.hpp"
#include "frcsim/math/vector.hpp"
 
namespace frcsim {

class Box : public Shape {
public:
    explicit Box(const Vector3& halfExtents);
 
    virtual ~Box() = default;
 
    ShapeType GetType() const override;
    double CalculateVolume() const override;
    Vector3 CalculateLocalInertia(double mass) const override;

    const Vector3& GetHalfExtents() const;
 
private:
    Vector3 m_halfExtents;
};
 
inline Box::Box(const Vector3& halfExtents) : m_halfExtents(halfExtents) {}
 
inline ShapeType Box::GetType() const { return ShapeType::BOX; }
 
inline double Box::CalculateVolume() const {
    return 8.0 * m_halfExtents.x * m_halfExtents.y * m_halfExtents.z;
}
 
inline Vector3 Box::CalculateLocalInertia(double mass) const {
    double lx2 = 4.0 * m_halfExtents.x * m_halfExtents.x;
    double ly2 = 4.0 * m_halfExtents.y * m_halfExtents.y;
    double lz2 = 4.0 * m_halfExtents.z * m_halfExtents.z;
    double factor = mass / 12.0;
    return Vector3(factor * (ly2 + lz2), factor * (lx2 + lz2), factor * (lx2 + ly2));
}
 
inline const Vector3& Box::GetHalfExtents() const { return m_halfExtents; }
 
} // namespace frcsim