Sphere.hh

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/*
 * Copyright (C) 2018 Open Source Robotics Foundation
 *
 * 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 IGNITION_MATH_SPHERE_HH_
#define IGNITION_MATH_SPHERE_HH_

#include "ignition/math/MassMatrix3.hh"
#include "ignition/math/Material.hh"
#include "ignition/math/Quaternion.hh"
#include "ignition/math/Plane.hh"

namespace ignition
{
  namespace math
  {
    // Foward declarations
    class SpherePrivate;

    // Inline bracket to help doxygen filtering.
    inline namespace IGNITION_MATH_VERSION_NAMESPACE {
    //
    template<typename Precision>
    class Sphere
    {
      public: Sphere() = default;

      public: explicit Sphere(const Precision _radius);

      public: Sphere(const Precision _radius, const Material &_mat);

      public: ~Sphere() = default;

      public: Precision Radius() const;

      public: void SetRadius(const Precision _radius);

      public: const ignition::math::Material &Material() const;

      public: void SetMaterial(const ignition::math::Material &_mat);

      public: bool MassMatrix(MassMatrix3d &_massMat) const;

      public: bool operator==(const Sphere &_sphere) const;

      public: bool operator!=(const Sphere &_sphere) const;

      public: Precision Volume() const;

      public: Precision VolumeBelow(const Plane<Precision> &_plane) const;

      public: std::optional<Vector3<Precision>>
        CenterOfVolumeBelow(const Plane<Precision> &_plane) const;

      public: Precision DensityFromMass(const Precision _mass) const;

      public: bool SetDensityFromMass(const Precision _mass);

      private: Precision radius = 0.0;

      private: ignition::math::Material material;
    };

    typedef Sphere<int> Spherei;

    typedef Sphere<double> Sphered;

    typedef Sphere<float> Spheref;
    }
  }
}
#include "ignition/math/detail/Sphere.hh"

#endif