cylinder.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"
#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif
#include <cmath>
 
namespace frcsim {

class Cylinder : public Shape {
public:
    Cylinder(double radius, double halfHeight);
 
    virtual ~Cylinder() = default;
 
    ShapeType GetType() const override;
    double CalculateVolume() const override;
    Vector3 CalculateLocalInertia(double mass) const override;

    double GetRadius() const;

    double GetHalfHeight() const;
 
private:
    double m_radius;
    double m_halfHeight;
};
 
inline Cylinder::Cylinder(double radius, double halfHeight) 
    : m_radius(radius), m_halfHeight(halfHeight) {}
 
inline ShapeType Cylinder::GetType() const { return ShapeType::CYLINDER; }
 
inline double Cylinder::CalculateVolume() const {
    return M_PI * m_radius * m_radius * 2.0 * m_halfHeight;
}
 
inline Vector3 Cylinder::CalculateLocalInertia(double mass) const {
    double r2 = m_radius * m_radius;
    double h2 = 4.0 * m_halfHeight * m_halfHeight;
    double ixz = (1.0 / 12.0) * mass * (3.0 * r2 + h2);
    double iy = 0.5 * mass * r2;
    return Vector3(ixz, iy, ixz);
}
 
inline double Cylinder::GetRadius() const { return m_radius; }
inline double Cylinder::GetHalfHeight() const { return m_halfHeight; }
 
} // namespace frcsim