17#ifndef GAZEBO_PHYSICS_ODE_ODEMULTIRAYSHAPE_HH_
18#define GAZEBO_PHYSICS_ODE_ODEMULTIRAYSHAPE_HH_
51 private:
static void UpdateCallback(
void *_data, dGeomID _o1,
57 protected:
void AddRay(
const ignition::math::Vector3d &_start,
58 const ignition::math::Vector3d &_end);
61 private: dSpaceID superSpaceId;
64 private: dSpaceID raySpaceId;
68 private:
bool defaultUpdate =
true;
Laser collision contains a set of ray-collisions, structured to simulate a laser range scanner.
Definition MultiRayShape.hh:40
ODE specific version of MultiRayShape.
Definition ODEMultiRayShape.hh:32
void AddRay(const ignition::math::Vector3d &_start, const ignition::math::Vector3d &_end)
Add a ray to the collision.
virtual ~ODEMultiRayShape()
Destructor.
ODEMultiRayShape(CollisionPtr _parent)
Constructor.
virtual void UpdateRays()
Method for updating the rays.
ODEMultiRayShape(PhysicsEnginePtr _physicsEngine)
Constructor for a global multiray shape.
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