/*
 * Copyright (c) 2011-2019, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/master/LICENSE
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 *   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
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 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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 */

#ifndef DART_DYNAMICS_BOXSHAPE_HPP_
#define DART_DYNAMICS_BOXSHAPE_HPP_

#include "dart/dynamics/Shape.hpp"

namespace dart {
namespace dynamics {

class BoxShape : public Shape
{
public:
  /// \brief Constructor.
  explicit BoxShape(const Eigen::Vector3d& _size);

  /// \brief Destructor.
  virtual ~BoxShape();

  // Documentation inherited.
  const std::string& getType() const override;

  /// Returns shape type for this class
  static const std::string& getStaticType();

  /// \brief Set size of this box.
  void setSize(const Eigen::Vector3d& _size);

  /// \brief Get size of this box.
  const Eigen::Vector3d& getSize() const;

  /// \brief Compute volume from given properties
  static double computeVolume(const Eigen::Vector3d& size);

  /// \brief Compute moments of inertia of a box
  static Eigen::Matrix3d computeInertia(
      const Eigen::Vector3d& size, double mass);

  // Documentation inherited.
  Eigen::Matrix3d computeInertia(double mass) const override;

protected:
  // Documentation inherited.
  void updateBoundingBox() const override;

  // Documentation inherited.
  void updateVolume() const override;

private:
  /// \brief Side lengths of the box
  Eigen::Vector3d mSize;
};

} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_BOXSHAPE_HPP_
