DARTCylinderShape.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 
18 #ifndef _GAZEBO_DARTCYLINDERSHAPE_HH_
19 #define _GAZEBO_DARTCYLINDERSHAPE_HH_
20 
21 #include "gazebo/common/Console.hh"
22 
25 #include "gazebo/util/system.hh"
26 
27 namespace gazebo
28 {
29  namespace physics
30  {
33  {
36  public: explicit DARTCylinderShape(CollisionPtr _parent)
37  : CylinderShape(_parent) {}
38 
40  public: virtual ~DARTCylinderShape() {}
41 
42  // Documentation inerited.
43  public: void SetSize(double _radius, double _length)
44  {
45  if (_radius < 0)
46  {
47  gzerr << "Cylinder shape does not support negative radius\n";
48  return;
49  }
50 
51  if (_length < 0)
52  {
53  gzerr << "Cylinder shape does not support negative length\n";
54  return;
55  }
56 
57  if (math::equal(_radius, 0.0))
58  {
59  // Warn user, but still create shape with very small value
60  // otherwise later resize operations using setLocalScaling
61  // will not be possible
62  gzwarn << "Setting cylinder shape's radius to zero not supported "
63  << "in DART, using 1e-4.\n";
64  _radius = 1e-4;
65  }
66 
67  if (math::equal(_length, 0.0))
68  {
69  gzwarn << "Setting cylinder shape's length to zero not supported "
70  << "in DART, using 1e-4.\n";
71  _length = 1e-4;
72  }
73 
74  CylinderShape::SetSize(_radius, _length);
75 
76  DARTCollisionPtr dartCollisionParent =
77  boost::dynamic_pointer_cast<DARTCollision>(this->collisionParent);
78 
79  if (dartCollisionParent->GetDARTCollisionShape() == NULL)
80  {
81  dart::dynamics::BodyNode *dtBodyNode =
82  dartCollisionParent->GetDARTBodyNode();
83  dart::dynamics::CylinderShape *dtCylinderShape =
84  new dart::dynamics::CylinderShape(_radius, _length);
85  dtBodyNode->addCollisionShape(dtCylinderShape);
86  dartCollisionParent->SetDARTCollisionShape(dtCylinderShape);
87  }
88  else
89  {
90  dart::dynamics::CylinderShape *dtCylinderShape =
91  dynamic_cast<dart::dynamics::CylinderShape*>(
92  dartCollisionParent->GetDARTCollisionShape());
93  dtCylinderShape->setRadius(_radius);
94  dtCylinderShape->setHeight(_length);
95  }
96  }
97  };
98  }
99 }
100 #endif
Cylinder collision.
Definition: CylinderShape.hh:37
virtual void SetSize(double _radius, double _length)
Set the size of the cylinder.
#define gzwarn
Output a warning message.
Definition: Console.hh:46
DARTCylinderShape(CollisionPtr _parent)
Constructor.
Definition: DARTCylinderShape.hh:36
#define gzerr
Output an error message.
Definition: Console.hh:49
bool equal(const T &_a, const T &_b, const T &_epsilon=1e-6)
check if two values are equal, within a tolerance
Definition: Helpers.hh:168
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:94
void SetSize(double _radius, double _length)
Set the size of the cylinder.
Definition: DARTCylinderShape.hh:43
Base class for all DART collisions.
Definition: DARTCollision.hh:34
DART cylinder shape.
Definition: DARTCylinderShape.hh:32
dart::dynamics::BodyNode * GetDARTBodyNode() const
Get DART body node.
virtual ~DARTCylinderShape()
Destructor.
Definition: DARTCylinderShape.hh:40
#define NULL
Definition: CommonTypes.hh:30
boost::shared_ptr< DARTCollision > DARTCollisionPtr
Definition: DARTTypes.hh:45
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:48