SimbodyBoxShape.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
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
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13  * See the License for the specific language governing permissions and
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15  *
16 */
17 #ifndef GAZEBO_PHYSICS_SIMBODY_SIMBODYBOXSHAPE_HH_
18 #define GAZEBO_PHYSICS_SIMBODY_SIMBODYBOXSHAPE_HH_
19 
22 #include "gazebo/util/system.hh"
23 
24 namespace gazebo
25 {
26  namespace physics
27  {
31 
33  class GZ_PHYSICS_VISIBLE SimbodyBoxShape : public BoxShape
34  {
36  public: SimbodyBoxShape(CollisionPtr _parent) : BoxShape(_parent) {}
37 
39  public: virtual ~SimbodyBoxShape() {}
40 
41  // Documentation inherited
42  public: void SetSize(const ignition::math::Vector3d &_size)
43  {
44  if (_size.X() < 0 || _size.Y() < 0 || _size.Z() < 0)
45  {
46  gzerr << "Box shape does not support negative size\n";
47  return;
48  }
49  ignition::math::Vector3d size = _size;
50  if (ignition::math::equal(size.X(), 0.0))
51  {
52  // Warn user, but still create shape with very small value
53  // otherwise later resize operations using setLocalScaling
54  // will not be possible
55  gzwarn << "Setting box shape's x to zero \n";
56  size.X() = 1e-4;
57  }
58  if (ignition::math::equal(size.Y(), 0.0))
59  {
60  gzwarn << "Setting box shape's y to zero \n";
61  size.Y() = 1e-4;
62  }
63  if (ignition::math::equal(size.Z(), 0.0))
64  {
65  gzwarn << "Setting box shape's z to zero \n";
66  size.Z() = 1e-4;
67  }
68 
69  BoxShape::SetSize(size);
70 
71  SimbodyCollisionPtr bParent;
72  bParent = boost::dynamic_pointer_cast<SimbodyCollision>(
73  this->collisionParent);
74  }
75  };
77  }
78 }
79 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
void SetSize(const ignition::math::Vector3d &_size)
Set the size of the box.
Definition: SimbodyBoxShape.hh:42
#define gzwarn
Output a warning message.
Definition: Console.hh:47
#define gzerr
Output an error message.
Definition: Console.hh:50
Simbody box collision.
Definition: SimbodyBoxShape.hh:33
Simbody collisions.
Definition: SimbodyCollision.hh:41
virtual void SetSize(const math::Vector3 &_size) GAZEBO_DEPRECATED(8.0)
Set the size of the box.
boost::shared_ptr< SimbodyCollision > SimbodyCollisionPtr
Definition: SimbodyTypes.hh:44
Box geometry primitive.
Definition: BoxShape.hh:34
SimbodyBoxShape(CollisionPtr _parent)
Constructor.
Definition: SimbodyBoxShape.hh:36
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:113
virtual ~SimbodyBoxShape()
Destructor.
Definition: SimbodyBoxShape.hh:39