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#ifndef DART_DYNAMICS_ELLIPSOIDSHAPE_HPP_
#define DART_DYNAMICS_ELLIPSOIDSHAPE_HPP_

#include "dart/dynamics/Shape.hpp"

namespace dart {
namespace dynamics {

class EllipsoidShape : public Shape
{
public:
  /// \brief Constructor.
  explicit EllipsoidShape(const Eigen::Vector3d& diameters);
  // TODO(JS): In order to follow the commonly used convention, change the
  // constructor to take radii instead of diameters in DART 7.

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

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

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

  /// \brief Set diameters of this ellipsoid.
  /// \deprecated Deprecated in 6.2. Please use setDiameters() instead.
  DART_DEPRECATED(6.2)
  void setSize(const Eigen::Vector3d& diameters);

  /// \brief Get diameters of this ellipsoid.
  /// \deprecated Deprecated in 6.2. Please use getDiameters() instead.
  DART_DEPRECATED(6.2)
  const Eigen::Vector3d& getSize() const;

  /// \brief Set diameters of this ellipsoid.
  void setDiameters(const Eigen::Vector3d& diameters);

  /// \brief Get diameters of this ellipsoid.
  const Eigen::Vector3d& getDiameters() const;

  /// Set radii of this ellipsoid.
  void setRadii(const Eigen::Vector3d& radii);

  /// Get radii of this ellipsoid.
  const Eigen::Vector3d getRadii() const;

  /// \brief Compute volume from given properties
  static double computeVolume(const Eigen::Vector3d& diameters);
  // TODO(JS): In order to follow the commonly used convention, change to take
  // radii instead of diameters in DART 7.

  /// \brief Compute moments of inertia of a ellipsoid
  static Eigen::Matrix3d computeInertia(
      const Eigen::Vector3d& diameters, double mass);
  // TODO(JS): In order to follow the commonly used convention, change to take
  // radii instead of diameters in DART 7.

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

  // Documentation inherited.
  ShapePtr clone() const override;

  /// \brief True if all the radii are exactly eqaul.
  bool isSphere(void) const;

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

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

private:
  /// \brief Diameters of this ellipsoid
  Eigen::Vector3d mDiameters;
};

} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_ELLIPSOIDSHAPE_HPP_
