RayShape.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.
 *
*/
/* Desc: A ray
 * Author: Nate Koenig
 * Date: 14 Oct 2009
*/

#ifndef _RAYSHAPE_HH_
#define _RAYSHAPE_HH_

#include <string>

#include "gazebo/physics/PhysicsTypes.hh"
#include "gazebo/physics/Shape.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace physics
  {

    class GZ_PHYSICS_VISIBLE RayShape : public Shape
    {
      public: explicit RayShape(PhysicsEnginePtr _physicsEngine);

      public: explicit RayShape(CollisionPtr _parent);

      public: virtual ~RayShape();

      public: virtual void SetPoints(const math::Vector3 &_posStart,
                                     const math::Vector3 &_posEnd);

      public: ignition::math::Vector3d Start() const;

      public: ignition::math::Vector3d End() const;


      public: virtual void GetRelativePoints(math::Vector3 &_posA,
                                             math::Vector3 &_posB);

      public: virtual void GetGlobalPoints(math::Vector3 &_posA,
                                           math::Vector3 &_posB);

      public: virtual void SetLength(double _len);

      public: double GetLength() const;

      public: virtual void SetScale(const math::Vector3 &_scale);

      public: virtual void Update() = 0;

      public: virtual void GetIntersection(double &_dist,
                                           std::string &_entity) = 0;

      public: void SetRetro(float _retro);

      public: std::string CollisionName() const;

      public: float GetRetro() const;

      public: void SetFiducial(int _fid);

      public: int GetFiducial() const;

      public: virtual void Init();

      public: void FillMsg(msgs::Geometry &_msg);

      public: virtual void ProcessMsg(const msgs::Geometry &_msg);

      public: virtual double ComputeVolume() const;

      protected: void SetCollisionName(const std::string &_name);

      // Contact information; this is filled out during collision
      // detection.
      protected: double contactLen;

      protected: double contactRetro;

      protected: int contactFiducial;

      protected: math::Vector3 relativeStartPos;

      protected: math::Vector3 relativeEndPos;

      protected: math::Vector3 globalStartPos;

      protected: math::Vector3 globalEndPos;

      private: std::string collisionName;

      protected: friend class ODEMultiRayShape;
    };
  }
}
#endif