BulletCylinderShape.hh

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/*
 * Copyright (C) 2012-2015 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.
 *
*/
/* Desc: Cylinder shape
 * Author: Nate Koenig
 * Date: 14 Oct 2009
 */

#ifndef _BULLETCYLINDERSHAPE_HH_
#define _BULLETCYLINDERSHAPE_HH_

#include "gazebo/physics/bullet/BulletPhysics.hh"
#include "gazebo/physics/CylinderShape.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace physics
  {

    class GAZEBO_VISIBLE BulletCylinderShape : public CylinderShape
    {
      public: BulletCylinderShape(CollisionPtr _parent)
              : CylinderShape(_parent) {}

      public: virtual ~BulletCylinderShape() {}

      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 \n";
                  _radius = 1e-4;
                }
                if (math::equal(_length, 0.0))
                {
                  gzwarn << "Setting cylinder shape's length to zero \n";
                  _length = 1e-4;
                }

                CylinderShape::SetSize(_radius, _length);
                BulletCollisionPtr bParent;
                bParent = boost::dynamic_pointer_cast<BulletCollision>(
                    this->collisionParent);

                btCollisionShape *shape = bParent->GetCollisionShape();
                if (!shape)
                {
                  this->initialSize = math::Vector3(_radius, _radius, _length);
                  bParent->SetCollisionShape(new btCylinderShapeZ(
                      btVector3(_radius, _radius, _length * 0.5)));
                }
                else
                {
                  btVector3 cylinderScale;
                  cylinderScale.setX(_radius / this->initialSize.x);
                  cylinderScale.setY(_radius / this->initialSize.y);
                  cylinderScale.setZ(_length / this->initialSize.z);

                  shape->setLocalScaling(cylinderScale);

                  // clear bullet cache and re-add the collision shape
                  // otherwise collisions won't work properly after scaling
                  BulletLinkPtr bLink =
                      boost::dynamic_pointer_cast<BulletLink>(
                      bParent->GetLink());
                  bLink->ClearCollisionCache();

                  // remove and add the shape again
                  if (bLink->GetBulletLink()->getCollisionShape()->isCompound())
                  {
                    btCompoundShape *compoundShape =
                        dynamic_cast<btCompoundShape *>(
                        bLink->GetBulletLink()->getCollisionShape());

                    compoundShape->removeChildShape(shape);
                    math::Pose relativePose =
                        this->collisionParent->GetRelativePose();
                    relativePose.pos -= bLink->GetInertial()->GetCoG();
                    compoundShape->addChildShape(
                        BulletTypes::ConvertPose(relativePose), shape);
                  }
                }
              }

      private: math::Vector3 initialSize;
    };
  }
}
#endif