17#ifndef GAZEBO_PHYSICS_ODE_ODERAYSHAPE_HH_
18#define GAZEBO_PHYSICS_ODE_ODERAYSHAPE_HH_
64 public:
virtual void SetPoints(
const ignition::math::Vector3d &_posStart,
65 const ignition::math::Vector3d &_posEnd);
75 private:
static void UpdateCallback(
void *_data, dGeomID _o1,
79 private: dGeomID geomId;
86 private:
class Intersection
92 public: std::string name;
Ray collision.
Definition ODERayShape.hh:35
ODERayShape(CollisionPtr _collision)
Constructor.
dGeomID ODEGeomId() const
Get the ODE Geom ID.
ODERayShape(PhysicsEnginePtr _physicsEngine, dSpaceID _spaceId)
Constructor for a ray in a space.
ODERayShape(PhysicsEnginePtr _physicsEngine)
Constructor for a global ray.
virtual void GetIntersection(double &_dist, std::string &_entity)
Get the nearest intersection.
virtual void SetPoints(const ignition::math::Vector3d &_posStart, const ignition::math::Vector3d &_posEnd)
Set the ray based on starting and ending points relative to the body.
virtual ~ODERayShape()
Destructor.
virtual void Update()
Update the ray collision.
Base class for Ray collision geometry.
Definition RayShape.hh:36
boost::shared_ptr< ODEPhysics > ODEPhysicsPtr
Definition ODETypes.hh:59
boost::shared_ptr< PhysicsEngine > PhysicsEnginePtr
Definition PhysicsTypes.hh:125
boost::shared_ptr< Collision > CollisionPtr
Definition PhysicsTypes.hh:113
Forward declarations for the common classes.
Definition Animation.hh:27