ODERayShape.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 GAZEBO_PHYSICS_ODE_ODERAYSHAPE_HH_
18#define GAZEBO_PHYSICS_ODE_ODERAYSHAPE_HH_
19
20#include <string>
21
24#include "gazebo/util/system.hh"
25
26namespace gazebo
27{
28 namespace physics
29 {
32
34 class GZ_PHYSICS_VISIBLE ODERayShape : public RayShape
35 {
38 public: explicit ODERayShape(PhysicsEnginePtr _physicsEngine);
39
43 public: ODERayShape(PhysicsEnginePtr _physicsEngine, dSpaceID _spaceId);
44
47 public: explicit ODERayShape(CollisionPtr _collision);
48
50 public: virtual ~ODERayShape();
51
53 public: virtual void Update();
54
58 public: virtual void GetIntersection(double &_dist, std::string &_entity);
59
64 public: virtual void SetPoints(const ignition::math::Vector3d &_posStart,
65 const ignition::math::Vector3d &_posEnd);
66
69 public: dGeomID ODEGeomId() const;
70
75 private: static void UpdateCallback(void *_data, dGeomID _o1,
76 dGeomID _o2);
77
79 private: dGeomID geomId;
80
82 private: ODEPhysicsPtr physicsEngine;
83
86 private: class Intersection
87 {
89 public: double depth;
90
92 public: std::string name;
93 };
94 };
96 }
97}
98#endif
Ray collision.
Definition ODERayShape.hh:35
ODERayShape(CollisionPtr _collision)
Constructor.
dGeomID ODEGeomId() const
Get the ODE Geom ID.
ODERayShape(PhysicsEnginePtr _physicsEngine, dSpaceID _spaceId)
Constructor for a ray in a space.
ODERayShape(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 ~ODERayShape()
Destructor.
virtual void Update()
Update the ray collision.
Base class for Ray collision geometry.
Definition RayShape.hh:36
boost::shared_ptr< ODEPhysics > ODEPhysicsPtr
Definition ODETypes.hh:59
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