ODEMultiRayShape.hh

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/*
 * Copyright (C) 2012-2016 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 _ODEMULTIRAYSHAPE_HH_
#define _ODEMULTIRAYSHAPE_HH_

#include "gazebo/physics/MultiRayShape.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace physics
  {

    class GZ_PHYSICS_VISIBLE ODEMultiRayShape : public MultiRayShape
    {
      public: explicit ODEMultiRayShape(CollisionPtr _parent);

      public: explicit ODEMultiRayShape(PhysicsEnginePtr _physicsEngine);

      public: virtual ~ODEMultiRayShape();

      // Documentation inherited.
      public: virtual void UpdateRays();

      private: static void UpdateCallback(void *_data, dGeomID _o1,
                                          dGeomID _o2);

      protected: void AddRay(const math::Vector3 &_start,
                             const math::Vector3 &_end);

      private: dSpaceID superSpaceId;

      private: dSpaceID raySpaceId;

      private: bool defaultUpdate = true;
    };
  }
}
#endif