DARTCylinderShape.hh

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/*
 * Copyright 2014 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_DARTCYLINDERSHAPE_HH_
#define _GAZEBO_DARTCYLINDERSHAPE_HH_

#include "gazebo/common/Console.hh"

#include "gazebo/physics/CylinderShape.hh"
#include "gazebo/physics/dart/DARTPhysics.hh"

namespace gazebo
{
  namespace physics
  {
    class DARTCylinderShape : public CylinderShape
    {
      public: explicit DARTCylinderShape(CollisionPtr _parent)
              : CylinderShape(_parent) {}

      public: virtual ~DARTCylinderShape() {}

      // Documentation inerited.
      public: void SetSize(double _radius, double _length)
      {
        if (_radius < 0)
        {
          gzerr << "Cylinder shape does not support negative radius\n";
          return;
        }

        if (_length < 0)
        {
          gzerr << "Cylinder shape does not support negative length\n";
          return;
        }

        if (math::equal(_radius, 0.0))
        {
          // Warn user, but still create shape with very small value
          // otherwise later resize operations using setLocalScaling
          // will not be possible
          gzwarn << "Setting cylinder shape's radius to zero not supported "
                 << "in DART, using 1e-4.\n";
          _radius = 1e-4;
        }

        if (math::equal(_length, 0.0))
        {
          gzwarn << "Setting cylinder shape's length to zero not supported "
                 << "in DART, using 1e-4.\n";
          _length = 1e-4;
        }

        CylinderShape::SetSize(_radius, _length);

        DARTCollisionPtr dartCollisionParent =
            boost::dynamic_pointer_cast<DARTCollision>(this->collisionParent);

        if (dartCollisionParent->GetDARTCollisionShape() == NULL)
        {
          dart::dynamics::BodyNode *dtBodyNode =
              dartCollisionParent->GetDARTBodyNode();
          dart::dynamics::CylinderShape *dtCylinderShape =
              new dart::dynamics::CylinderShape(_radius, _length);
          dtBodyNode->addCollisionShape(dtCylinderShape);
          dartCollisionParent->SetDARTCollisionShape(dtCylinderShape);
        }
        else
        {
          dart::dynamics::CylinderShape *dtCylinderShape =
              dynamic_cast<dart::dynamics::CylinderShape*>(
                dartCollisionParent->GetDARTCollisionShape());
          dtCylinderShape->setRadius(_radius);
          dtCylinderShape->setHeight(_length);
        }
      }
    };
  }
}
#endif