ODEMultiRayShape.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.
 *
*/
#ifndef ODEMULTIRAYSHAPE_HH
#define ODEMULTIRAYSHAPE_HH

#include "physics/MultiRayShape.hh"

namespace gazebo
{
  namespace physics
  {

    class ODEMultiRayShape : public MultiRayShape
    {
      public: ODEMultiRayShape(CollisionPtr parent);

      public: virtual ~ODEMultiRayShape();

      public: virtual void UpdateRays();

      private: static void UpdateCallback(void *data, dGeomID o1, dGeomID o2);

      protected: void AddRay(const math::Vector3 &start,
                             const math::Vector3 &end);

      private: dSpaceID superSpaceId;
      private: dSpaceID raySpaceId;
    };
  }
}
#endif