text: /*
   * Copyright (c) 2011-2021, The DART development contributors
   * All rights reserved.
   *
   * The list of contributors can be found at:
   *   https://github.com/dartsim/dart/blob/master/LICENSE
   *
   * This file is provided under the following "BSD-style" License:
   *   Redistribution and use in source and binary forms, with or
   *   without modification, are permitted provided that the following
   *   conditions are met:
   *   * Redistributions of source code must retain the above copyright
   *     notice, this list of conditions and the following disclaimer.
   *   * Redistributions in binary form must reproduce the above
   *     copyright notice, this list of conditions and the following
   *     disclaimer in the documentation and/or other materials provided
   *     with the distribution.
   *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
   *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
   *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
   *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
   *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
   *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
   *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
   *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
   *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
   *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   *   POSSIBILITY OF SUCH DAMAGE.
   */
  
  #include "dart/dynamics/SphereShape.hpp"
  
  #include "dart/math/Helpers.hpp"
  
  namespace dart {
  namespace dynamics {
  
  //==============================================================================
  SphereShape::SphereShape(double radius) : Shape(SPHERE)
  {
    setRadius(radius);
  }
  
  //==============================================================================
  SphereShape::~SphereShape()
  {
    // Do nothing
  }
  
  //==============================================================================
  const std::string& SphereShape::getType() const
  {
    return getStaticType();
  }
  
  //==============================================================================
  const std::string& SphereShape::getStaticType()
  {
    static const std::string type("SphereShape");
    return type;
  }
  
  //==============================================================================
  void SphereShape::setRadius(double radius)
  {
    assert(radius > 0.0);
  
    mRadius = radius;
  
    mIsBoundingBoxDirty = true;
    mIsVolumeDirty = true;
  
    incrementVersion();
  }
  
  //==============================================================================
  double SphereShape::getRadius() const
  {
    return mRadius;
  }
  
  //==============================================================================
  double SphereShape::computeVolume(double radius)
  {
    return math::constantsd::pi() * 4.0 / 3.0 * std::pow(radius, 3);
  }
  
  //==============================================================================
  Eigen::Matrix3d SphereShape::computeInertia(double radius, double mass)
  {
    Eigen::Matrix3d inertia = Eigen::Matrix3d::Identity();
  
    inertia(0, 0) = 2.0 / 5.0 * mass * std::pow(radius, 2);
    inertia(1, 1) = inertia(0, 0);
    inertia(2, 2) = inertia(0, 0);
  
    return inertia;
  }
  
  //==============================================================================
  Eigen::Matrix3d SphereShape::computeInertia(double mass) const
  {
    return computeInertia(mRadius, mass);
  }
  
  //==============================================================================
  void SphereShape::updateBoundingBox() const
  {
    mBoundingBox.setMin(Eigen::Vector3d::Constant(-mRadius));
    mBoundingBox.setMax(Eigen::Vector3d::Constant(mRadius));
    mIsBoundingBoxDirty = false;
  }
  
  //==============================================================================
  void SphereShape::updateVolume() const
  {
    mVolume = computeVolume(mRadius);
    mIsVolumeDirty = false;
  }
  
  } // namespace dynamics
  } // namespace dart
  