BulletCylinderShape.hh

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/*
 * Copyright 2011 Nate Koenig
 *
 * 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.
 *
*/
/* Desc: Cylinder shape
 * Author: Nate Koenig
 * Date: 14 Oct 2009
 */

#ifndef _BULLETCYLINDERSHAPE_HH_
#define _BULLETCYLINDERSHAPE_HH_

#include "physics/bullet/BulletPhysics.hh"
#include "physics/CylinderShape.hh"

namespace gazebo
{
  namespace physics
  {

    class BulletCylinderShape : public CylinderShape
    {
      public: BulletCylinderShape(CollisionPtr _parent)
              : CylinderShape(_parent) {}

      public: virtual ~BulletCylinderShape() {}

      public: void SetSize(const double &_radius, const double &_length)
              {
                CylinderShape::SetSize(_radius, _length);
                BulletCollisionPtr bParent;
                bParent = boost::shared_dynamic_cast<BulletCollision>(
                    this->collisionParent);

                bParent->SetCollisionShape(new btCylinderShapeZ(
                    btVector3(_radius, _radius, _length * 0.5)));
              }
    };
  }
}
#endif