18#ifndef _GAZEBO_DARTRAYSHAPE_HH_
19#define _GAZEBO_DARTRAYSHAPE_HH_
36 class DARTRayShapePrivate;
64 public:
virtual void SetPoints(
const ignition::math::Vector3d &_posStart,
65 const ignition::math::Vector3d &_posEnd);
69 private: DARTRayShapePrivate *dataPtr;
DART wrapper forward declarations and typedefs.
Ray collision.
Definition DARTRayShape.hh:40
virtual ~DARTRayShape()
Destructor.
DARTRayShape(CollisionPtr _collision)
Constructor.
DARTRayShape(PhysicsEnginePtr _physicsEngine)
Constructor for a global ray.
virtual void GetIntersection(double &_dist, std::string &_entity)
Get the nearest intersection.
virtual 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.
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
Forward declarations for the common classes.
Definition Animation.hh:27