ODEPlaneShape.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 #ifndef _ODEPLANESHAPE_HH_
18 #define _ODEPLANESHAPE_HH_
19 
22 #include "gazebo/util/system.hh"
23 
24 namespace gazebo
25 {
26  namespace physics
27  {
30 
32  class GZ_PHYSICS_VISIBLE ODEPlaneShape : public PlaneShape
33  {
36  public: explicit ODEPlaneShape(CollisionPtr _parent)
37  : PlaneShape(_parent) {}
38 
40  public: virtual ~ODEPlaneShape() {}
41 
42  // Documentation inherited
43  public: virtual void CreatePlane()
44  {
46  ODECollisionPtr oParent;
47  oParent =
48  boost::dynamic_pointer_cast<ODECollision>(this->collisionParent);
49  math::Pose pose = oParent->GetWorldPose();
50  double altitude = pose.pos.z;
51  math::Vector3 n = this->GetNormal();
52  if (oParent->GetCollisionId() == NULL)
53  oParent->SetCollision(dCreatePlane(oParent->GetSpaceId(),
54  n.x, n.y, n.z, altitude), false);
55  else
56  dGeomPlaneSetParams(oParent->GetCollisionId(),
57  n.x, n.y, n.z, altitude);
58  }
59 
60  // Documentation inherited
61  public: virtual void SetAltitude(const math::Vector3 &_pos)
62  {
64  ODECollisionPtr odeParent;
65  odeParent =
66  boost::dynamic_pointer_cast<ODECollision>(this->collisionParent);
67 
68  dVector4 vec4;
69 
70  dGeomPlaneGetParams(odeParent->GetCollisionId(), vec4);
71 
72  // Compute "altitude": scalar product of position and normal
73  vec4[3] = vec4[0] * _pos.x + vec4[1] * _pos.y + vec4[2] * _pos.z;
74 
75  dGeomPlaneSetParams(odeParent->GetCollisionId(), vec4[0], vec4[1],
76  vec4[2], vec4[3]);
77  }
78  };
80  }
81 }
82 #endif
double x
X location.
Definition: Vector3.hh:311
double y
Y location.
Definition: Vector3.hh:314
virtual void SetAltitude(const math::Vector3 &_pos)
Set the altitude of the plane.
Definition: ODEPlaneShape.hh:61
Encapsulates a position and rotation in three space.
Definition: Pose.hh:37
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:39
Base class for all ODE collisions.
Definition: ODECollision.hh:41
boost::shared_ptr< ODECollision > ODECollisionPtr
Definition: ODETypes.hh:39
virtual void CreatePlane()
Create the plane.
double z
Z location.
Definition: Vector3.hh:317
ODEPlaneShape(CollisionPtr _parent)
Constructor.
Definition: ODEPlaneShape.hh:36
An ODE Plane shape.
Definition: ODEPlaneShape.hh:32
virtual void CreatePlane()
Create the plane.
Definition: ODEPlaneShape.hh:43
Vector3 pos
The position.
Definition: Pose.hh:252
virtual void SetAltitude(const math::Vector3 &_pos)
Set the altitude of the plane.
#define NULL
Definition: CommonTypes.hh:31
virtual ~ODEPlaneShape()
Destructor.
Definition: ODEPlaneShape.hh:40
Collision for an infinite plane.
Definition: PlaneShape.hh:41
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:113