BulletRayShape.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
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8  * http://www.apache.org/licenses/LICENSE-2.0
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17 
18 #ifndef GAZEBO_PHYSICS_BULLET_BULLETRAYSHAPE_HH_
19 #define GAZEBO_PHYSICS_BULLET_BULLETRAYSHAPE_HH_
20 
21 #include <string>
23 #include "gazebo/util/system.hh"
24 
25 namespace gazebo
26 {
27  namespace physics
28  {
32 
34  class GZ_PHYSICS_VISIBLE BulletRayShape : public RayShape
35  {
36  public: BulletRayShape(PhysicsEnginePtr _physicsEngine);
37 
40  public: BulletRayShape(CollisionPtr _collision);
41 
43  public: virtual ~BulletRayShape();
44 
46  public: virtual void Update();
47 
49  public: virtual void GetIntersection(double &_dist, std::string &_entity);
50 
55  public: void SetPoints(const ignition::math::Vector3d &_posStart,
56  const ignition::math::Vector3d &_posEnd);
57 
59  private: BulletPhysicsPtr physicsEngine;
60  };
62  }
63 }
64 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
Ray shape for bullet.
Definition: BulletRayShape.hh:34
boost::shared_ptr< BulletPhysics > BulletPhysicsPtr
Definition: BulletTypes.hh:47
boost::shared_ptr< PhysicsEngine > PhysicsEnginePtr
Definition: PhysicsTypes.hh:125
Base class for Ray collision geometry.
Definition: RayShape.hh:35
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:113