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ODEBoxShape.hh
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1 /*
2  * Copyright 2011 Nate Koenig
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
7  *
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
14  * limitations under the License.
15  *
16 */
17 #ifndef ODEBOXSHAPE_HH
18 #define ODEBOXSHAPE_HH
19 
20 #include "math/Vector3.hh"
21 
23 #include "physics/ode/ODETypes.hh"
25 
26 #include "physics/PhysicsTypes.hh"
27 #include "physics/BoxShape.hh"
28 
29 namespace gazebo
30 {
31  namespace physics
32  {
36 
38  class ODEBoxShape : public BoxShape
39  {
40  public: ODEBoxShape(ODECollisionPtr _parent) : BoxShape(_parent) {}
41  public: virtual ~ODEBoxShape() {}
42  public: virtual void SetSize(const math::Vector3 &size)
43  {
44  BoxShape::SetSize(size);
45 
46  ODECollisionPtr oParent;
47  oParent = boost::shared_dynamic_cast<ODECollision>(
48  this->collisionParent);
49 
50  if (oParent->GetCollisionId() == NULL)
51  oParent->SetCollision(dCreateBox(0, size.x, size.y, size.z), true);
52  else
53  dGeomBoxSetLengths(oParent->GetCollisionId(), size.x, size.y, size.z);
54  }
55  };
57  }
58 }
59 #endif
60 
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