frcsim::Box Class Reference

Represents a rectangular prism collision shape. More...

#include <box.hpp>

Inheritance diagram for frcsim::Box:

Public Member Functions
	Box (const Vector3 &halfExtents)
	Constructs a new Box centered at the local origin.
virtual	~Box ()=default
ShapeType	GetType () const override
	Gets the exact type of this shape.
double	CalculateVolume () const override
	Calculates the volume of the specific shape.
Vector3	CalculateLocalInertia (double mass) const override
	Computes the diagonal of the local inertia tensor for this shape given a mass.
const Vector3 &	GetHalfExtents () const
	Gets the half extents of the box.
Public Member Functions inherited from frcsim::Shape
virtual	~Shape ()=default

Detailed Description

Represents a rectangular prism collision shape.

Constructor & Destructor Documentation

Box()

frcsim::Box::Box ( const Vector3 & halfExtents )

inlineexplicit

Constructs a new Box centered at the local origin.

Parameters

halfExtents

A Vector3 where x, y, and z are half the width, height, and depth respectively.

~Box()

virtual frcsim::Box::~Box ( )

virtualdefault

Member Function Documentation

CalculateLocalInertia()

Vector3 frcsim::Box::CalculateLocalInertia ( double mass ) const

inlineoverridevirtual

Computes the diagonal of the local inertia tensor for this shape given a mass.

Parameters

mass	The mass of the rigid body attached to this shape in kg.

Returns

A Vector3 representing the moments of inertia (Ixx, Iyy, Izz).

Implements frcsim::Shape.

CalculateVolume()

double frcsim::Box::CalculateVolume ( ) const

inlineoverridevirtual

Calculates the volume of the specific shape.

Returns

The geometric volume in cubic meters.

Implements frcsim::Shape.

GetHalfExtents()

const Vector3 & frcsim::Box::GetHalfExtents ( ) const

inline

Gets the half extents of the box.

Returns

The dimensions of the box from the center to its edges.

GetType()

ShapeType frcsim::Box::GetType ( ) const

inlineoverridevirtual

Gets the exact type of this shape.

Returns

The ShapeType enum value corresponding to the derived class.

Implements frcsim::Shape.

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The documentation for this class was generated from the following file:

• src/main/driver/include/frcsim/collision_shapes/box.hpp