ODESphereShape.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 _ODESPHERESHAPE_HH_
18#define _ODESPHERESHAPE_HH_
19
24#include "gazebo/util/system.hh"
25
26namespace gazebo
27{
28 namespace physics
29 {
32
34 class GZ_PHYSICS_VISIBLE ODESphereShape : public SphereShape
35 {
38 public: explicit ODESphereShape(ODECollisionPtr _parent)
39 : SphereShape(_parent) {}
40
42 public: virtual ~ODESphereShape() {}
43
44 // Documentation inherited.
45 public: virtual void SetRadius(double _radius)
46 {
47 SphereShape::SetRadius(_radius);
48 ODECollisionPtr oParent;
49 oParent =
50 boost::dynamic_pointer_cast<ODECollision>(this->collisionParent);
51
52 // Create the sphere geometry
53 if (oParent->GetCollisionId() == nullptr)
54 oParent->SetCollision(dCreateSphere(0, _radius), true);
55 else
56 dGeomSphereSetRadius(oParent->GetCollisionId(), _radius);
57 }
58 };
60 }
61}
62#endif
default namespace for gazebo
A ODE sphere shape.
Definition ODESphereShape.hh:35
ODESphereShape(ODECollisionPtr _parent)
Constructor.
Definition ODESphereShape.hh:38
virtual ~ODESphereShape()
Destructor.
Definition ODESphereShape.hh:42
virtual void SetRadius(double _radius)
Set the size.
Definition ODESphereShape.hh:45
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.
boost::shared_ptr< ODECollision > ODECollisionPtr
Definition ODETypes.hh:39
Forward declarations for the common classes.
Definition Animation.hh:27