ODEMultiRayShape.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_ODE_ODEMULTIRAYSHAPE_HH_
18 #define GAZEBO_PHYSICS_ODE_ODEMULTIRAYSHAPE_HH_
19 
21 #include "gazebo/util/system.hh"
22 
23 namespace 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
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
boost::shared_ptr< PhysicsEngine > PhysicsEnginePtr
Definition: PhysicsTypes.hh:125
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:113
ODE specific version of MultiRayShape.
Definition: ODEMultiRayShape.hh:31