BulletPlaneShape.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 #ifndef GAZEBO_PHYSICS_BULLET_BULLETPLANESHAPE_HH_
18 #define GAZEBO_PHYSICS_BULLET_BULLETPLANESHAPE_HH_
19 
20 #include <iostream>
21 
25 #include "gazebo/util/system.hh"
26 
27 namespace gazebo
28 {
29  namespace physics
30  {
34 
36  class GZ_PHYSICS_VISIBLE BulletPlaneShape : public PlaneShape
37  {
39  public: explicit BulletPlaneShape(CollisionPtr _parent)
40  : PlaneShape(_parent) {}
41 
43  public: virtual ~BulletPlaneShape() {}
44 
46  public: void SetAltitude(const ignition::math::Vector3d &pos)
47  {
49  }
50 
52  public: void CreatePlane()
53  {
55  BulletCollisionPtr bParent;
56  bParent = boost::dynamic_pointer_cast<BulletCollision>(
57  this->collisionParent);
58 
59  ignition::math::Vector3d n = this->Normal();
60  btVector3 vec(n.X(), n.Y(), n.Z());
61 
62  bParent->SetCollisionShape(new btStaticPlaneShape(vec, 0.0),
63  false);
64  }
65  };
67  }
68 }
69 #endif
Bullet collisions.
Definition: BulletCollision.hh:43
boost::shared_ptr< BulletCollision > BulletCollisionPtr
Definition: BulletTypes.hh:39
virtual void CreatePlane()
Create the plane.
Bullet collision for an infinite plane.
Definition: BulletPlaneShape.hh:36
virtual void SetAltitude(const ignition::math::Vector3d &_pos)
Set the altitude of the plane.
BulletPlaneShape(CollisionPtr _parent)
Constructor.
Definition: BulletPlaneShape.hh:39
void CreatePlane()
Create the plane.
Definition: BulletPlaneShape.hh:52
Collision for an infinite plane.
Definition: PlaneShape.hh:37
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:113
void SetAltitude(const ignition::math::Vector3d &pos)
Set the altitude of the plane.
Definition: BulletPlaneShape.hh:46
virtual ~BulletPlaneShape()
Destructor.
Definition: BulletPlaneShape.hh:43