BulletRayShape.hh

Go to the documentation of this file.

/*
 * Copyright (C) 2012 Open Source Robotics Foundation
 *
 * 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 GAZEBO_PHYSICS_BULLET_BULLETRAYSHAPE_HH_
#define GAZEBO_PHYSICS_BULLET_BULLETRAYSHAPE_HH_

#include <string>
#include "gazebo/physics/RayShape.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace physics
  {

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

      public: explicit BulletRayShape(CollisionPtr _collision);

      public: virtual ~BulletRayShape();

      public: virtual void Update();

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

      public: void SetPoints(const ignition::math::Vector3d &_posStart,
                             const ignition::math::Vector3d &_posEnd);

      private: BulletPhysicsPtr physicsEngine;
    };
  }
}
#endif