Shape.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
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 GAZEBO_PHYSICS_SHAPE_HH_
18#define GAZEBO_PHYSICS_SHAPE_HH_
19
20#ifdef _WIN32
21 // Ensure that Winsock2.h is included before Windows.h, which can get
22 // pulled in by anybody (e.g., Boost).
23 #include <Winsock2.h>
24#endif
25
26#include <string>
27#include <ignition/math/Vector3.hh>
28
29#include "gazebo/msgs/msgs.hh"
30
34#include "gazebo/util/system.hh"
35
36namespace gazebo
37{
38 namespace physics
39 {
42
45 class GZ_PHYSICS_VISIBLE Shape : public Base
46 {
49 public: explicit Shape(CollisionPtr _parent);
50
52 public: virtual ~Shape();
53
55 public: virtual void Init() = 0;
56
59 public: virtual void SetScale(const ignition::math::Vector3d &_scale) = 0;
60
63 public: virtual ignition::math::Vector3d Scale() const;
64
67 public: virtual void FillMsg(msgs::Geometry &_msg) = 0;
68
71 public: virtual void ProcessMsg(const msgs::Geometry &_msg) = 0;
72
76 public: virtual double ComputeVolume() const;
77
80
82 protected: ignition::math::Vector3d scale = ignition::math::Vector3d::One;
83 };
85 }
86}
87#endif
default namespace for gazebo
Base class for most physics classes.
Definition Base.hh:78
Base class for all shapes.
Definition Shape.hh:46
virtual void ProcessMsg(const msgs::Geometry &_msg)=0
Process a geometry message.
virtual void FillMsg(msgs::Geometry &_msg)=0
Fill in the values for a geometry message.
virtual double ComputeVolume() const
Get the volume of this shape.
virtual void Init()=0
Initialize the shape.
Shape(CollisionPtr _parent)
Constructor.
ignition::math::Vector3d scale
This shape's scale;.
Definition Shape.hh:82
virtual void SetScale(const ignition::math::Vector3d &_scale)=0
Set the scale of the shape.
virtual ignition::math::Vector3d Scale() const
Get the scale of the shape.
CollisionPtr collisionParent
This shape's collision parent.
Definition Shape.hh:79
virtual ~Shape()
Destructor.
boost::shared_ptr< Collision > CollisionPtr
Definition PhysicsTypes.hh:113
Forward declarations for the common classes.
Definition Animation.hh:27