BulletRayShape.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
18#ifndef GAZEBO_PHYSICS_BULLET_BULLETRAYSHAPE_HH_
19#define GAZEBO_PHYSICS_BULLET_BULLETRAYSHAPE_HH_
20
21#include <string>
23#include "gazebo/util/system.hh"
24
25namespace gazebo
26{
27 namespace physics
28 {
32
34 class GZ_PHYSICS_VISIBLE BulletRayShape : public RayShape
35 {
36 public: explicit BulletRayShape(PhysicsEnginePtr _physicsEngine);
37
40 public: explicit BulletRayShape(CollisionPtr _collision);
41
43 public: virtual ~BulletRayShape();
44
46 public: virtual void Update();
47
49 public: virtual void GetIntersection(double &_dist, std::string &_entity);
50
55 public: void SetPoints(const ignition::math::Vector3d &_posStart,
56 const ignition::math::Vector3d &_posEnd);
57
59 private: BulletPhysicsPtr physicsEngine;
60 };
62 }
63}
64#endif
Ray shape for bullet.
Definition BulletRayShape.hh:35
BulletRayShape(CollisionPtr _collision)
Constructor.
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.
BulletRayShape(PhysicsEnginePtr _physicsEngine)
virtual ~BulletRayShape()
Destructor.
virtual void GetIntersection(double &_dist, std::string &_entity)
Get the nearest intersection.
virtual void Update()
Update the ray collision.
Base class for Ray collision geometry.
Definition RayShape.hh:36
boost::shared_ptr< PhysicsEngine > PhysicsEnginePtr
Definition PhysicsTypes.hh:125
boost::shared_ptr< Collision > CollisionPtr
Definition PhysicsTypes.hh:113
boost::shared_ptr< BulletPhysics > BulletPhysicsPtr
Definition BulletTypes.hh:44
Forward declarations for the common classes.
Definition Animation.hh:27