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

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

    double GetRadius() const;
 
private:
    double m_radius;
};
 
inline Sphere::Sphere(double radius) : m_radius(radius) {}
 
inline ShapeType Sphere::GetType() const { return ShapeType::SPHERE; }
 
inline double Sphere::CalculateVolume() const {
    return (4.0 / 3.0) * M_PI * m_radius * m_radius * m_radius;
}
 
inline Vector3 Sphere::CalculateLocalInertia(double mass) const {
    double i = 0.4 * mass * m_radius * m_radius;
    return Vector3(i, i, i);
}
 
inline double Sphere::GetRadius() const { return m_radius; }
 
} // namespace frcsim