BulletMultiRayShape.hh
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2  * Copyright (C) 2012 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 #ifndef GAZEBO_PHYSICS_BULLET_BULLETMULTIRAYSHAPE_HH_
18 #define GAZEBO_PHYSICS_BULLET_BULLETMULTIRAYSHAPE_HH_
19 
21 #include "gazebo/util/system.hh"
22 
23 namespace gazebo
24 {
25  namespace physics
26  {
30 
32  class GZ_PHYSICS_VISIBLE BulletMultiRayShape : public MultiRayShape
33  {
35  public: BulletMultiRayShape(CollisionPtr parent);
36 
38  public: virtual ~BulletMultiRayShape();
39 
41  public: virtual void UpdateRays();
42 
44  protected: void AddRay(const ignition::math::Vector3d &start,
45  const ignition::math::Vector3d &end);
46 
47  private: BulletPhysicsPtr physicsEngine;
48  };
50  }
51 }
52 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
Laser collision contains a set of ray-collisions, structured to simulate a laser range scanner...
Definition: MultiRayShape.hh:42
Bullet specific version of MultiRayShape.
Definition: BulletMultiRayShape.hh:32
boost::shared_ptr< BulletPhysics > BulletPhysicsPtr
Definition: BulletTypes.hh:47
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:113