frcsim::Sphere Class Reference

Represents a perfect sphere collision shape. More...

#include <sphere.hpp>

Inheritance diagram for frcsim::Sphere:

Public Member Functions
	Sphere (double radius)
	Constructs a new Sphere centered at the local origin.
virtual	~Sphere ()=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.
double	GetRadius () const
	Gets the radius of the sphere.
Public Member Functions inherited from frcsim::Shape
virtual	~Shape ()=default

Detailed Description

Represents a perfect sphere collision shape.

Constructor & Destructor Documentation

Sphere()

frcsim::Sphere::Sphere ( double radius )

inlineexplicit

Constructs a new Sphere centered at the local origin.

Parameters

radius

The radius of the sphere in meters.

~Sphere()

virtual frcsim::Sphere::~Sphere ( )

virtualdefault

Member Function Documentation

CalculateLocalInertia()

Vector3 frcsim::Sphere::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::Sphere::CalculateVolume ( ) const

inlineoverridevirtual

Calculates the volume of the specific shape.

Returns

The geometric volume in cubic meters.

Implements frcsim::Shape.

GetRadius()

double frcsim::Sphere::GetRadius ( ) const

inline

Gets the radius of the sphere.

Returns

The radius in meters.

GetType()

ShapeType frcsim::Sphere::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/sphere.hpp