SimbodySphereShape.hh
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1 /*
2  * Copyright (C) 2012 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
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
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15  *
16 */
17 
18 #ifndef _SIMBODY_SPHERE_SHAPE_HH_
19 #define _SIMBODY_SPHERE_SHAPE_HH_
20 
22 #include "gazebo/util/system.hh"
23 
24 namespace gazebo
25 {
26  namespace physics
27  {
31 
33  class GZ_PHYSICS_VISIBLE SimbodySphereShape : public SphereShape
34  {
37  public: explicit SimbodySphereShape(CollisionPtr _parent)
38  : SphereShape(_parent) {}
39 
41  public: virtual ~SimbodySphereShape() {}
42 
43  // Documentation inherited.
44  public: virtual void SetRadius(double _radius)
45  {
46  if (_radius < 0)
47  {
48  gzerr << "Sphere shape does not support negative radius\n";
49  return;
50  }
51  if (ignition::math::equal(_radius, 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 sphere shape's radius to zero \n";
57  _radius = 1e-4;
58  }
59 
60  SphereShape::SetRadius(_radius);
61  SimbodyCollisionPtr bParent;
62  bParent = boost::dynamic_pointer_cast<SimbodyCollision>(
63  this->collisionParent);
64 
65  // set collision shape
66  }
67  };
69  }
70 }
71 #endif
#define gzwarn
Output a warning message.
Definition: Console.hh:47
#define gzerr
Output an error message.
Definition: Console.hh:50
Simbody collisions.
Definition: SimbodyCollision.hh:41
virtual void SetRadius(double _radius)
Set the size.
boost::shared_ptr< SimbodyCollision > SimbodyCollisionPtr
Definition: SimbodyTypes.hh:44
Simbody sphere collision.
Definition: SimbodySphereShape.hh:33
virtual void SetRadius(double _radius)
Set the size.
Definition: SimbodySphereShape.hh:44
virtual ~SimbodySphereShape()
Destructor.
Definition: SimbodySphereShape.hh:41
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:113
SimbodySphereShape(CollisionPtr _parent)
Constructor.
Definition: SimbodySphereShape.hh:37
Sphere collision shape.
Definition: SphereShape.hh:39