ODERayShape.hh
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1 /*
2  * Copyright (C) 2012-2016 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 /* Desc: A ray
18  * Author: Nate Koenig, Andrew Howard
19  * Date: 14 Oct 2009
20  */
21 
22 #ifndef _ODERAYSHAPE_HH_
23 #define _ODERAYSHAPE_HH_
24 
25 #include <string>
26 
28 #include "gazebo/physics/Shape.hh"
29 #include "gazebo/util/system.hh"
30 
31 namespace gazebo
32 {
33  namespace physics
34  {
37  {
40  public: explicit ODERayShape(PhysicsEnginePtr _physicsEngine);
41 
44  public: explicit ODERayShape(CollisionPtr _collision);
45 
47  public: virtual ~ODERayShape();
48 
50  public: virtual void Update();
51 
55  public: virtual void GetIntersection(double &_dist, std::string &_entity);
56 
61  public: virtual void SetPoints(const math::Vector3 &_posStart,
62  const math::Vector3 &_posEnd);
63 
68  private: static void UpdateCallback(void *_data, dGeomID _o1,
69  dGeomID _o2);
70 
72  private: dGeomID geomId;
73 
75  private: ODEPhysicsPtr physicsEngine;
76 
79  private: class Intersection
80  {
82  public: double depth;
83 
85  public: std::string name;
86  };
87  };
88  }
89 }
90 #endif
#define GZ_PHYSICS_VISIBLE
Definition: system.hh:259
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:39
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:104
boost::shared_ptr< ODEPhysics > ODEPhysicsPtr
Definition: ODETypes.hh:56
boost::shared_ptr< PhysicsEngine > PhysicsEnginePtr
Definition: PhysicsTypes.hh:116
Base class for Ray collision geometry.
Definition: RayShape.hh:40
Ray collision.
Definition: ODERayShape.hh:36