frcsim::Shape Class Reference

Base class for all collision geometries in the physics engine. More...

#include <shape.hpp>

Inheritance diagram for frcsim::Shape:

Public Member Functions
virtual	~Shape ()=default
virtual ShapeType	GetType () const =0
	Gets the exact type of this shape.
virtual double	CalculateVolume () const =0
	Calculates the volume of the specific shape.
virtual Vector3	CalculateLocalInertia (double mass) const =0
	Computes the diagonal of the local inertia tensor for this shape given a mass.

Detailed Description

Base class for all collision geometries in the physics engine.

Defines the common interface for collision detection, volume calculations, and inertial property computation.

Constructor & Destructor Documentation

~Shape()

virtual frcsim::Shape::~Shape ( )

virtualdefault

Member Function Documentation

CalculateLocalInertia()

virtual Vector3 frcsim::Shape::CalculateLocalInertia ( double mass ) const

pure virtual

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).

Implemented in frcsim::Box, frcsim::Cylinder, and frcsim::Sphere.

CalculateVolume()

virtual double frcsim::Shape::CalculateVolume ( ) const

pure virtual

Calculates the volume of the specific shape.

Returns

The geometric volume in cubic meters.

Implemented in frcsim::Box, frcsim::Cylinder, and frcsim::Sphere.

GetType()

virtual ShapeType frcsim::Shape::GetType ( ) const

pure virtual

Gets the exact type of this shape.

Returns

The ShapeType enum value corresponding to the derived class.

Implemented in frcsim::Box, frcsim::Cylinder, and frcsim::Sphere.

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

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