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SimbodyMultiRayShape.hh
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1 /*
2  * Copyright (C) 2012-2014 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 
18 #ifndef _SIMBODY_MULTIRAYSHAPE_HH_
19 #define _SIMBODY_MULTIRAYSHAPE_HH_
20 
22 #include "gazebo/util/system.hh"
23 
24 namespace gazebo
25 {
26  namespace physics
27  {
31 
34  {
36  public: SimbodyMultiRayShape(CollisionPtr parent);
37 
39  public: virtual ~SimbodyMultiRayShape();
40 
41  // Documentation inherited.
42  public: virtual void UpdateRays();
43 
44  // Documentation inherited.
45  protected: virtual void AddRay(const math::Vector3 &_start,
46  const math::Vector3 &_end);
47 
49  private: SimbodyPhysicsPtr physicsEngine;
50  };
52  }
53 }
54 #endif