BulletMotionState.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/* Desc: Bullet motion state class.
18 * Author: Nate Koenig
19 * Date: 25 May 2009
20 */
21
22#ifndef _BULLETMOTIONSTATE_HH_
23#define _BULLETMOTIONSTATE_HH_
24
27#include "gazebo/util/system.hh"
28
29namespace gazebo
30{
31 namespace physics
32 {
33 class Link;
34
38
40 class GZ_PHYSICS_VISIBLE BulletMotionState : public btMotionState
41 {
43 public: explicit BulletMotionState(LinkPtr _link);
44
46 public: virtual ~BulletMotionState();
47
50 public: virtual void getWorldTransform(btTransform &_cogWorldTrans) const;
51
54 public: virtual void setWorldTransform(const btTransform &_cogWorldTrans);
55
57 private: LinkPtr link;
58 };
60 }
61}
62#endif
default namespace for gazebo
Bullet btMotionState encapsulation.
Definition BulletMotionState.hh:41
virtual ~BulletMotionState()
Destructor.
BulletMotionState(LinkPtr _link)
Constructor.
virtual void getWorldTransform(btTransform &_cogWorldTrans) const
Get the world transform of the body at the center of gravity.
virtual void setWorldTransform(const btTransform &_cogWorldTrans)
Set the world transform of the body at the center of gravity.
boost::shared_ptr< Link > LinkPtr
Definition PhysicsTypes.hh:109
Forward declarations for the common classes.
Definition Animation.hh:27