BulletPlaneShape.hh
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1 /*
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_BULLETPLANESHAPE_HH_
18 #define GAZEBO_PHYSICS_BULLET_BULLETPLANESHAPE_HH_
19 
20 #include <iostream>
21 
25 #include "gazebo/util/system.hh"
26 
27 namespace gazebo
28 {
29  namespace physics
30  {
34 
36  class GZ_PHYSICS_VISIBLE BulletPlaneShape : public PlaneShape
37  {
39  public: BulletPlaneShape(CollisionPtr _parent) : PlaneShape(_parent) {}
40 
42  public: virtual ~BulletPlaneShape() {}
43 
45  public: void SetAltitude(const ignition::math::Vector3d &pos)
46  {
48  }
49 
51  public: void CreatePlane()
52  {
54  BulletCollisionPtr bParent;
55  bParent = boost::dynamic_pointer_cast<BulletCollision>(
56  this->collisionParent);
57 
58  ignition::math::Vector3d n = this->Normal();
59  btVector3 vec(n.X(), n.Y(), n.Z());
60 
61  bParent->SetCollisionShape(new btStaticPlaneShape(vec, 0.0),
62  false);
63  }
64  };
66  }
67 }
68 #endif
Bullet collisions.
Definition: BulletCollision.hh:43
Forward declarations for the common classes.
Definition: Animation.hh:33
virtual void SetAltitude(const math::Vector3 &_pos) GAZEBO_DEPRECATED(8.0)
Set the altitude of the plane.
boost::shared_ptr< BulletCollision > BulletCollisionPtr
Definition: BulletTypes.hh:42
virtual void CreatePlane()
Create the plane.
Bullet collision for an infinite plane.
Definition: BulletPlaneShape.hh:36
BulletPlaneShape(CollisionPtr _parent)
Constructor.
Definition: BulletPlaneShape.hh:39
void CreatePlane()
Create the plane.
Definition: BulletPlaneShape.hh:51
Collision for an infinite plane.
Definition: PlaneShape.hh:38
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:113
void SetAltitude(const ignition::math::Vector3d &pos)
Set the altitude of the plane.
Definition: BulletPlaneShape.hh:45
virtual ~BulletPlaneShape()
Destructor.
Definition: BulletPlaneShape.hh:42