SimbodyBoxShape.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
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8  * http://www.apache.org/licenses/LICENSE-2.0
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16 */
17 
18 #ifndef _SIMBODY_BOXSHAPE_HH_
19 #define _SIMBODY_BOXSHAPE_HH_
20 
23 #include "gazebo/util/system.hh"
24 
25 namespace gazebo
26 {
27  namespace physics
28  {
32 
34  class GZ_PHYSICS_VISIBLE SimbodyBoxShape : public BoxShape
35  {
37  public: SimbodyBoxShape(CollisionPtr _parent) : BoxShape(_parent) {}
38 
40  public: virtual ~SimbodyBoxShape() {}
41 
42  // Documentation inherited
43  public: void SetSize(const math::Vector3 &_size)
44  {
45  if (_size.x < 0 || _size.y < 0 || _size.z < 0)
46  {
47  gzerr << "Box shape does not support negative size\n";
48  return;
49  }
50  math::Vector3 size = _size;
51  if (math::equal(size.x, 0.0))
52  {
53  // Warn user, but still create shape with very small value
54  // otherwise later resize operations using setLocalScaling
55  // will not be possible
56  gzwarn << "Setting box shape's x to zero \n";
57  size.x = 1e-4;
58  }
59  if (math::equal(size.y, 0.0))
60  {
61  gzwarn << "Setting box shape's y to zero \n";
62  size.y = 1e-4;
63  }
64  if (math::equal(size.z, 0.0))
65  {
66  gzwarn << "Setting box shape's z to zero \n";
67  size.z = 1e-4;
68  }
69 
70  BoxShape::SetSize(size);
71 
72  SimbodyCollisionPtr bParent;
73  bParent = boost::dynamic_pointer_cast<SimbodyCollision>(
74  this->collisionParent);
75  }
76  };
78  }
79 }
80 #endif
double x
X location.
Definition: Vector3.hh:311
double y
Y location.
Definition: Vector3.hh:314
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:39
void SetSize(const math::Vector3 &_size)
Set the size of the box.
Definition: SimbodyBoxShape.hh:43
#define gzwarn
Output a warning message.
Definition: Console.hh:47
#define gzerr
Output an error message.
Definition: Console.hh:50
Simbody box collision.
Definition: SimbodyBoxShape.hh:34
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:171
double z
Z location.
Definition: Vector3.hh:317
Simbody collisions.
Definition: SimbodyCollision.hh:41
boost::shared_ptr< SimbodyCollision > SimbodyCollisionPtr
Definition: SimbodyTypes.hh:44
Box geometry primitive.
Definition: BoxShape.hh:37
SimbodyBoxShape(CollisionPtr _parent)
Constructor.
Definition: SimbodyBoxShape.hh:37
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:113
virtual ~SimbodyBoxShape()
Destructor.
Definition: SimbodyBoxShape.hh:40
virtual void SetSize(const math::Vector3 &_size)
Set the size of the box.