ODEMultiRayShape.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.
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16*/
17#ifndef GAZEBO_PHYSICS_ODE_ODEMULTIRAYSHAPE_HH_
18#define GAZEBO_PHYSICS_ODE_ODEMULTIRAYSHAPE_HH_
19
21#include "gazebo/util/system.hh"
22
23namespace gazebo
24{
25 namespace physics
26 {
29
31 class GZ_PHYSICS_VISIBLE ODEMultiRayShape : public MultiRayShape
32 {
35 public: explicit ODEMultiRayShape(CollisionPtr _parent);
36
39 public: explicit ODEMultiRayShape(PhysicsEnginePtr _physicsEngine);
40
42 public: virtual ~ODEMultiRayShape();
43
44 // Documentation inherited.
45 public: virtual void UpdateRays();
46
51 private: static void UpdateCallback(void *_data, dGeomID _o1,
52 dGeomID _o2);
53
57 protected: void AddRay(const ignition::math::Vector3d &_start,
58 const ignition::math::Vector3d &_end);
59
61 private: dSpaceID superSpaceId;
62
64 private: dSpaceID raySpaceId;
65
68 private: bool defaultUpdate = true;
69 };
71 }
72}
73#endif
Laser collision contains a set of ray-collisions, structured to simulate a laser range scanner.
Definition MultiRayShape.hh:40
ODE specific version of MultiRayShape.
Definition ODEMultiRayShape.hh:32
void AddRay(const ignition::math::Vector3d &_start, const ignition::math::Vector3d &_end)
Add a ray to the collision.
virtual ~ODEMultiRayShape()
Destructor.
ODEMultiRayShape(CollisionPtr _parent)
Constructor.
virtual void UpdateRays()
Method for updating the rays.
ODEMultiRayShape(PhysicsEnginePtr _physicsEngine)
Constructor for a global multiray shape.
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