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#ifndef DART_DYNAMICS_CAPSULESHAPE_HPP_
#define DART_DYNAMICS_CAPSULESHAPE_HPP_

#include "dart/dynamics/Shape.hpp"

namespace dart {
namespace dynamics {

/// CapsuleShape represents a three-dimensional geometric shape consisting of a
/// cylinder with hemispherical ends.
class CapsuleShape : public Shape
{
public:
  /// Constructor.
  /// \param[in] radius Radius of the capsule.
  /// \param[in] height Height of the cylindrical part.
  CapsuleShape(double radius, double height);

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

  /// Get shape type string for this shape.
  static const std::string& getStaticType();

  /// Get the radius of the capsule.
  double getRadius() const;

  /// Set the radius of the capsule.
  void setRadius(double radius);

  /// Get the height of the cylindrical part.
  double getHeight() const;

  /// Set the height of the cylindrical part.
  void setHeight(double height);

  /// Compute volume from given properties.
  /// \param[in] radius Radius of the capsule.
  /// \param[in] height Height of the cylindrical part.
  static double computeVolume(double radius, double height);

  /// Compute moments of inertia of a capsule
  /// \param[in] radius Radius of the capsule.
  /// \param[in] height Height of the cylindrical part.
  /// \param[in] mass Mass of the capsule.
  static Eigen::Matrix3d computeInertia(
      double radius, double height, 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:
  /// Radius of the capsule.
  double mRadius;

  /// Height of the cylindrical part.
  double mHeight;
};

} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_CAPSULESHAPE_HPP_
