ODESphereShape.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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13  * See the License for the specific language governing permissions and
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17 #ifndef _ODESPHERESHAPE_HH_
18 #define _ODESPHERESHAPE_HH_
19 
24 #include "gazebo/util/system.hh"
25 
26 namespace gazebo
27 {
28  namespace physics
29  {
32 
34  class GZ_PHYSICS_VISIBLE ODESphereShape : public SphereShape
35  {
38  public: explicit ODESphereShape(ODECollisionPtr _parent)
39  : SphereShape(_parent) {}
40 
42  public: virtual ~ODESphereShape() {}
43 
44  // Documentation inherited.
45  public: virtual void SetRadius(double _radius)
46  {
47  SphereShape::SetRadius(_radius);
48  ODECollisionPtr oParent;
49  oParent =
50  boost::dynamic_pointer_cast<ODECollision>(this->collisionParent);
51 
52  // Create the sphere geometry
53  if (oParent->GetCollisionId() == nullptr)
54  oParent->SetCollision(dCreateSphere(0, _radius), true);
55  else
56  dGeomSphereSetRadius(oParent->GetCollisionId(), _radius);
57  }
58  };
60  }
61 }
62 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
Base class for all ODE collisions.
Definition: ODECollision.hh:40
void SetCollision(dGeomID _collisionId, bool _placeable)
Set the encapsulated collision object.
boost::shared_ptr< ODECollision > ODECollisionPtr
Definition: ODETypes.hh:39
default namespace for gazebo
virtual void SetRadius(double _radius)
Set the size.
virtual void SetRadius(double _radius)
Set the size.
Definition: ODESphereShape.hh:45
ODESphereShape(ODECollisionPtr _parent)
Constructor.
Definition: ODESphereShape.hh:38
A ODE sphere shape.
Definition: ODESphereShape.hh:34
virtual ~ODESphereShape()
Destructor.
Definition: ODESphereShape.hh:42
Sphere collision shape.
Definition: SphereShape.hh:39