ODECylinderShape.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 _ODECYLINDERSHAPE_HH_
18#define _ODECYLINDERSHAPE_HH_
19
22#include "gazebo/util/system.hh"
23
24namespace gazebo
25{
26 namespace physics
27 {
30
32 class GZ_PHYSICS_VISIBLE ODECylinderShape : public CylinderShape
33 {
36 public: explicit ODECylinderShape(CollisionPtr _parent)
37 : CylinderShape(_parent) {}
38
40 public: virtual ~ODECylinderShape() {}
41
42 // Documentation inerited.
43 public: void SetSize(double _radius, double _length)
44 {
45 CylinderShape::SetSize(_radius, _length);
46 ODECollisionPtr oParent;
47 oParent =
48 boost::dynamic_pointer_cast<ODECollision>(this->collisionParent);
49
50 if (oParent->GetCollisionId() == nullptr)
51 oParent->SetCollision(dCreateCylinder(0, _radius, _length), true);
52 else
53 dGeomCylinderSetParams(oParent->GetCollisionId(), _radius, _length);
54 }
55 };
57 }
58}
59#endif
Cylinder collision.
Definition CylinderShape.hh:33
virtual void SetSize(double _radius, double _length)
Set the size of the cylinder.
ODE cylinder shape.
Definition ODECylinderShape.hh:33
ODECylinderShape(CollisionPtr _parent)
Constructor.
Definition ODECylinderShape.hh:36
virtual ~ODECylinderShape()
Destructor.
Definition ODECylinderShape.hh:40
void SetSize(double _radius, double _length)
Set the size of the cylinder.
Definition ODECylinderShape.hh:43
CollisionPtr collisionParent
This shape's collision parent.
Definition Shape.hh:73
boost::shared_ptr< ODECollision > ODECollisionPtr
Definition ODETypes.hh:39
boost::shared_ptr< Collision > CollisionPtr
Definition PhysicsTypes.hh:113
Forward declarations for the common classes.
Definition Animation.hh:27