BulletRayShape.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: A ray
 * Author: Nate Koenig
 * Date: 24 May 2009
 */

#ifndef _BULLETRAYGEOM_HH_
#define _BULLETRAYGEOM_HH_

#include <string>
#include "physics/RayShape.hh"

namespace gazebo
{
  namespace physics
  {

    class BulletRayShape : public RayShape
    {
      public: BulletRayShape(PhysicsEnginePtr _physicsEngine);

      public: BulletRayShape(CollisionPtr _collision);

      public: virtual ~BulletRayShape();

      public: virtual void Update();

      public: virtual void GetIntersection(double &_dist, std::string &_entity);

      public: void SetPoints(const math::Vector3 &_posStart,
                             const math::Vector3 &_posEnd);

      private: BulletPhysicsPtr physicsEngine;
      private: btCollisionWorld::ClosestRayResultCallback rayCallback;
    };
  }
}
#endif