BulletSphereShape.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_BULLET_BULLETSPHERESHAPE_HH_
18#define GAZEBO_PHYSICS_BULLET_BULLETSPHERESHAPE_HH_
19
25#include "gazebo/util/system.hh"
26
27namespace gazebo
28{
29 namespace physics
30 {
34
36 class GZ_PHYSICS_VISIBLE BulletSphereShape : public SphereShape
37 {
39 public: explicit BulletSphereShape(CollisionPtr _parent)
40 : SphereShape(_parent) {}
41
43 public: virtual ~BulletSphereShape() {}
44
47 public: void SetRadius(double _radius)
48 {
49 if (_radius < 0)
50 {
51 gzerr << "Sphere shape does not support negative radius\n";
52 return;
53 }
54 if (ignition::math::equal(_radius, 0.0))
55 {
56 // Warn user, but still create shape with very small value
57 // otherwise later resize operations using setLocalScaling
58 // will not be possible
59 gzwarn << "Setting sphere shape's radius to zero \n";
60 _radius = 1e-4;
61 }
62
63 SphereShape::SetRadius(_radius);
64 BulletCollisionPtr bParent;
65 bParent = boost::dynamic_pointer_cast<BulletCollision>(
66 this->collisionParent);
67
68 btCollisionShape *shape = bParent->GetCollisionShape();
69 if (!shape)
70 {
71 this->initialSize =
72 ignition::math::Vector3d(_radius, _radius, _radius);
73 bParent->SetCollisionShape(new btSphereShape(_radius));
74 }
75 else
76 {
77 btVector3 sphereScale;
78 sphereScale.setX(_radius / this->initialSize.X());
79 sphereScale.setY(_radius / this->initialSize.Y());
80 sphereScale.setZ(_radius / this->initialSize.Z());
81
82 shape->setLocalScaling(sphereScale);
83
84 // clear bullet cache and re-add the collision shape
85 // otherwise collisions won't work properly after scaling
86 BulletLinkPtr bLink =
87 boost::dynamic_pointer_cast<BulletLink>(
88 bParent->GetLink());
89 bLink->ClearCollisionCache();
90
91 // remove and add the shape again
92 if (bLink->GetBulletLink()->getCollisionShape()->isCompound())
93 {
94 btCompoundShape *compoundShape =
95 dynamic_cast<btCompoundShape *>(
96 bLink->GetBulletLink()->getCollisionShape());
97
98 compoundShape->removeChildShape(shape);
99 ignition::math::Pose3d relativePose =
100 this->collisionParent->RelativePose()
101 - bLink->GetInertial()->Pose();
102 compoundShape->addChildShape(
103 BulletTypes::ConvertPose(relativePose), shape);
104 }
105 }
106 }
107
109 private: ignition::math::Vector3d initialSize;
110 };
112 }
113}
114#endif
Bullet sphere collision.
Definition BulletSphereShape.hh:37
void SetRadius(double _radius)
Set the radius.
Definition BulletSphereShape.hh:47
BulletSphereShape(CollisionPtr _parent)
Constructor.
Definition BulletSphereShape.hh:39
virtual ~BulletSphereShape()
Destructor.
Definition BulletSphereShape.hh:43
static btTransform ConvertPose(const ignition::math::Pose3d &_pose)
Convert an ignition math pose to a bullet transform.
Definition BulletTypes.hh:111
CollisionPtr collisionParent
This shape's collision parent.
Definition Shape.hh:73
Sphere collision shape.
Definition SphereShape.hh:34
virtual void SetRadius(double _radius)
Set the size.
#define gzerr
Output an error message.
Definition Console.hh:50
#define gzwarn
Output a warning message.
Definition Console.hh:47
boost::shared_ptr< BulletCollision > BulletCollisionPtr
Definition BulletTypes.hh:41
boost::shared_ptr< BulletLink > BulletLinkPtr
Definition BulletTypes.hh:42
boost::shared_ptr< Collision > CollisionPtr
Definition PhysicsTypes.hh:113
Forward declarations for the common classes.
Definition Animation.hh:27