DARTSphereShape.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_DARTSPHERESHAPE_HH_
#define _GAZEBO_DARTSPHERESHAPE_HH_

#include "gazebo/physics/dart/DARTPhysics.hh"
#include "gazebo/physics/dart/DARTCollision.hh"
#include "gazebo/physics/PhysicsTypes.hh"
#include "gazebo/physics/SphereShape.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace physics
  {
    class GAZEBO_VISIBLE DARTSphereShape : public SphereShape
    {
      public: explicit DARTSphereShape(DARTCollisionPtr _parent)
              : SphereShape(_parent) {}

      public: virtual ~DARTSphereShape() {}

      // Documentation inherited.
      public: virtual void SetRadius(double _radius)
      {
        if (_radius < 0)
        {
          gzerr << "Sphere shape does not support negative radius.\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 sphere shape's radius to zero is not supported "
                 << "in DART, using 1e-4.\n";
          _radius = 1e-4;
        }

        SphereShape::SetRadius(_radius);

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

        if (dartCollisionParent->GetDARTCollisionShape() == NULL)
        {
          dart::dynamics::BodyNode *dtBodyNode =
              dartCollisionParent->GetDARTBodyNode();
          dart::dynamics::EllipsoidShape *dtEllisoidShape =
              new dart::dynamics::EllipsoidShape(Eigen::Vector3d(_radius*2.0,
                                                                 _radius*2.0,
                                                                 _radius*2.0));
          dtBodyNode->addCollisionShape(dtEllisoidShape);
          dartCollisionParent->SetDARTCollisionShape(dtEllisoidShape);
        }
        else
        {
          dart::dynamics::EllipsoidShape *dtEllipsoidShape =
              dynamic_cast<dart::dynamics::EllipsoidShape*>(
                dartCollisionParent->GetDARTCollisionShape());
          dtEllipsoidShape->setDim(Eigen::Vector3d(_radius*2.0,
                                                   _radius*2.0,
                                                   _radius*2.0));
        }
      }
    };
  }
}
#endif