Shape.hh
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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.
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17 #ifndef GAZEBO_PHYSICS_SHAPE_HH_
18 #define GAZEBO_PHYSICS_SHAPE_HH_
19 
20 #ifdef _WIN32
21  // Ensure that Winsock2.h is included before Windows.h, which can get
22  // pulled in by anybody (e.g., Boost).
23  #include <Winsock2.h>
24 #endif
25 
26 #include <string>
27 #include <ignition/math/Vector3.hh>
28 
29 #include "gazebo/msgs/msgs.hh"
30 
33 #include "gazebo/physics/Base.hh"
34 #include "gazebo/util/system.hh"
35 
36 namespace gazebo
37 {
38  namespace physics
39  {
42 
45  class GZ_PHYSICS_VISIBLE Shape : public Base
46  {
49  public: explicit Shape(CollisionPtr _parent);
50 
52  public: virtual ~Shape();
53 
55  public: virtual void Init() = 0;
56 
60  public: virtual void SetScale(const math::Vector3 &_scale)
61  GAZEBO_DEPRECATED(8.0);
62 
65  public: virtual void SetScale(const ignition::math::Vector3d &_scale) = 0;
66 
70  public: virtual math::Vector3 GetScale() const GAZEBO_DEPRECATED(8.0);
71 
74  public: virtual ignition::math::Vector3d Scale() const;
75 
78  public: virtual void FillMsg(msgs::Geometry &_msg) = 0;
79 
82  public: virtual void ProcessMsg(const msgs::Geometry &_msg) = 0;
83 
87  public: virtual double ComputeVolume() const;
88 
91 
93  protected: ignition::math::Vector3d scale = ignition::math::Vector3d::One;
94  };
96  }
97 }
98 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:44
Base class for all shapes.
Definition: Shape.hh:45
default namespace for gazebo
Base class for most physics classes.
Definition: Base.hh:77
#define GAZEBO_DEPRECATED(version)
Definition: system.hh:302
CollisionPtr collisionParent
This shape&#39;s collision parent.
Definition: Shape.hh:90
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:113