Shape.hh

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/*
 * 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_SHAPE_HH_
#define GAZEBO_PHYSICS_SHAPE_HH_

#include <string>
#include <ignition/math/Vector3.hh>

#include "gazebo/msgs/msgs.hh"

#include "gazebo/physics/PhysicsTypes.hh"
#include "gazebo/physics/Inertial.hh"
#include "gazebo/physics/Base.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace physics
  {

    class GZ_PHYSICS_VISIBLE Shape : public Base
    {
      public: explicit Shape(CollisionPtr _parent);

      public: virtual ~Shape();

      public: virtual void Init() = 0;

      public: virtual void SetScale(const ignition::math::Vector3d &_scale) = 0;

      public: virtual ignition::math::Vector3d Scale() const;

      public: virtual void FillMsg(msgs::Geometry &_msg) = 0;

      public: virtual void ProcessMsg(const msgs::Geometry &_msg) = 0;

      public: virtual double ComputeVolume() const;

      protected: CollisionPtr collisionParent;

      protected: ignition::math::Vector3d scale = ignition::math::Vector3d::One;
    };
  }
}
#endif