/usr/include/SurgSim/Math/CapsuleShape.h is in libopensurgsim-dev 0.7.0-5.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 | // This file is a part of the OpenSurgSim project.
// Copyright 2013, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef SURGSIM_MATH_CAPSULESHAPE_H
#define SURGSIM_MATH_CAPSULESHAPE_H
#include "SurgSim/Framework/ObjectFactory.h"
#include "SurgSim/Math/Shape.h"
namespace SurgSim
{
namespace Math
{
SURGSIM_STATIC_REGISTRATION(CapsuleShape);
/// Capsule shape: centered on (0, 0, 0), aligned along Y,
/// with length and radius
class CapsuleShape: public Shape
{
public:
/// Constructor
/// \param length The capsule length (i.e. of the cylinder) (in m)
/// \param radius The capsule radius (i.e. of the cylinder/spheres) (in m)
explicit CapsuleShape(double length = 0.0, double radius = 0.0);
SURGSIM_CLASSNAME(SurgSim::Math::CapsuleShape);
/// \return the type of the shape
int getType() const override;
/// Get the capsule length (i.e. cylinder length)
/// \return The capsule length (in m)
double getLength() const;
/// Get the capsule radius (i.e. cylinder/spheres radius)
/// \return The capsule radius (in m)
double getRadius() const;
/// Get the volume of the shape
/// \return The volume of the shape (in m-3)
double getVolume() const override;
/// Get the volumetric center of the shape
/// \return The center of the shape
Vector3d getCenter() const override;
/// Return the center of the top sphere of the internal cylinder
/// \return The top center of the sphere of the capsule
Vector3d topCenter() const;
/// Return the center of the bottom sphere of the internal cylinder
/// \return The bottom center of the sphere of the capsule
Vector3d bottomCenter() const;
/// Get the second central moment of the volume, commonly used
/// to calculate the moment of inertia matrix
/// \return The 3x3 symmetric second moment matrix
Matrix33d getSecondMomentOfVolume() const override;
/// \return True if length and radius are bigger than or equal to 0; Otherwise, false.
bool isValid() const override;
protected:
// Setters in 'protected' sections are for serialization purpose only.
/// Set the capsule length (i.e. cylinder length)
/// \param length The capsule length (in m)
void setLength(double length);
/// Set the capsule radius (i.e. cylinder/spheres radius)
/// \param radius The capsule radius (in m)
void setRadius(double radius);
void updateAabb();
private:
/// Capsule length
double m_length;
/// Capsule radius
double m_radius;
};
}; // Math
}; // SurgSim
#endif // SURGSIM_MATH_CAPSULESHAPE_H
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