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#ifndef DART_DYNAMICS_CONESHAPE_HPP_
#define DART_DYNAMICS_CONESHAPE_HPP_

#include "dart/dynamics/Shape.hpp"

namespace dart {
namespace dynamics {

/// ConeShape represents a three-dimensional geometric shape that tapers
/// smoothly from a flat circular base to a point called the apex or vertex.
class ConeShape : public Shape
{
public:
  /// Constructor.
  /// \param[in] radius Radius of the circular base.
  /// \param[in] height Lateral height of the cone.
  ConeShape(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 circular base.
  double getRadius() const;

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

  /// Get the lateral height of the cone.
  double getHeight() const;

  /// Set the lateral height of the cone.
  void setHeight(double height);

  /// Compute volume from given properties.
  /// \param[in] radius Radius of the circular base.
  /// \param[in] height Lateral height of the cone.
  static double computeVolume(double radius, double height);

  /// Compute moments of inertia of a cone at the center of geometric center
  /// (half of the z-axis segment between the tip and the center of the base
  /// disk).
  /// \param[in] radius Radius of the circular base.
  /// \param[in] height Lateral height of the cone.
  /// \param[in] mass The mass of the cone.
  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 circular base.
  double mRadius;

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

} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_CONESHAPE_HPP_
