17 #ifndef GAZEBO_PHYSICS_ODE_ODERAYSHAPE_HH_
18 #define GAZEBO_PHYSICS_ODE_ODERAYSHAPE_HH_
53 public:
virtual void Update();
58 public:
virtual void GetIntersection(
double &_dist, std::string &_entity);
64 public:
virtual void SetPoints(
const ignition::math::Vector3d &_posStart,
65 const ignition::math::Vector3d &_posEnd);
69 public: dGeomID ODEGeomId()
const;
75 private:
static void UpdateCallback(
void *_data, dGeomID _o1,
79 private: dGeomID geomId;
86 private:
class Intersection
92 public: std::string name;
boost::shared_ptr< ODEPhysics > ODEPhysicsPtr
Definition: ODETypes.hh:59
boost::shared_ptr< PhysicsEngine > PhysicsEnginePtr
Definition: PhysicsTypes.hh:125
Base class for Ray collision geometry.
Definition: RayShape.hh:35
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:113
Ray collision.
Definition: ODERayShape.hh:34