cone.h

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#ifndef FCL_SHAPE_CONE_H
#define FCL_SHAPE_CONE_H

#include <ostream>
#include <string>

#include "fcl/geometry/shape/shape_base.h"

namespace fcl
{

template <typename S_>
class FCL_EXPORT Cone : public ShapeBase<S_>
{
public:

  using S = S_;

  Cone(S radius, S lz);

  S radius;

  S lz;

  void computeLocalAABB() override;

  NODE_TYPE getNodeType() const override;

  // Documentation inherited
  S computeVolume() const override;

  // Documentation inherited
  Matrix3<S> computeMomentofInertia() const override;

  // Documentation inherited
  Vector3<S> computeCOM() const override;

  std::vector<Vector3<S>> getBoundVertices(const Transform3<S>& tf) const;

  std::string representation(int precision = 20) const;

  friend
  std::ostream& operator<<(std::ostream& out, const Cone& cone) {
    out << "Cone(r: " << cone.radius << ", lz: " << cone.lz << ")";
    return out;
  }
};

using Conef = Cone<float>;
using Coned = Cone<double>;

} // namespace fcl

#include "fcl/geometry/shape/cone-inl.h"

#endif