Ray shape for simbody.
Definition SimbodyRayShape.hh:34
SimbodyRayShape(PhysicsEnginePtr _physicsEngine)
Constructor.
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 ~SimbodyRayShape()
Destructor.
SimbodyRayShape(CollisionPtr _collision)
Constructor.
virtual void Update()
Update the ray collision.
boost::shared_ptr< SimbodyPhysics > SimbodyPhysicsPtr
Definition SimbodyTypes.hh:40