BulletPlaneShape.hh

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/*
 * Copyright (C) 2012 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 GAZEBO_PHYSICS_BULLET_BULLETPLANESHAPE_HH_
#define GAZEBO_PHYSICS_BULLET_BULLETPLANESHAPE_HH_

#include <iostream>

#include "gazebo/physics/bullet/BulletPhysics.hh"
#include "gazebo/physics/bullet/BulletCollision.hh"
#include "gazebo/physics/PlaneShape.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace physics
  {

    class GZ_PHYSICS_VISIBLE BulletPlaneShape : public PlaneShape
    {
      public: explicit BulletPlaneShape(CollisionPtr _parent)
              : PlaneShape(_parent) {}

      public: virtual ~BulletPlaneShape() {}

      public: void SetAltitude(const ignition::math::Vector3d &pos)
              {
                PlaneShape::SetAltitude(pos);
              }

      public: void CreatePlane()
              {
                PlaneShape::CreatePlane();
                BulletCollisionPtr bParent;
                bParent = boost::dynamic_pointer_cast<BulletCollision>(
                    this->collisionParent);

                ignition::math::Vector3d n = this->Normal();
                btVector3 vec(n.X(), n.Y(), n.Z());

                bParent->SetCollisionShape(new btStaticPlaneShape(vec, 0.0),
                    false);
              }
    };
  }
}
#endif