ODERayShape.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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13  * See the License for the specific language governing permissions and
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17 #ifndef GAZEBO_PHYSICS_ODE_ODERAYSHAPE_HH_
18 #define GAZEBO_PHYSICS_ODE_ODERAYSHAPE_HH_
19 
20 #include <string>
21 
23 #include "gazebo/physics/Shape.hh"
24 #include "gazebo/util/system.hh"
25 
26 namespace gazebo
27 {
28  namespace physics
29  {
32 
34  class GZ_PHYSICS_VISIBLE ODERayShape : public RayShape
35  {
38  public: explicit ODERayShape(PhysicsEnginePtr _physicsEngine);
39 
43  public: ODERayShape(PhysicsEnginePtr _physicsEngine, dSpaceID _spaceId);
44 
47  public: explicit ODERayShape(CollisionPtr _collision);
48 
50  public: virtual ~ODERayShape();
51 
53  public: virtual void Update();
54 
58  public: virtual void GetIntersection(double &_dist, std::string &_entity);
59 
64  public: virtual void SetPoints(const ignition::math::Vector3d &_posStart,
65  const ignition::math::Vector3d &_posEnd);
66 
69  public: dGeomID ODEGeomId() const;
70 
75  private: static void UpdateCallback(void *_data, dGeomID _o1,
76  dGeomID _o2);
77 
79  private: dGeomID geomId;
80 
82  private: ODEPhysicsPtr physicsEngine;
83 
86  private: class Intersection
87  {
89  public: double depth;
90 
92  public: std::string name;
93  };
94  };
96  }
97 }
98 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
boost::shared_ptr< ODEPhysics > ODEPhysicsPtr
Definition: ODETypes.hh:59
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
Ray collision.
Definition: ODERayShape.hh:34