SimbodySphereShape.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
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,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
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15  *
16 */
17 
18 #ifndef _SIMBODY_SPHERE_SHAPE_HH_
19 #define _SIMBODY_SPHERE_SHAPE_HH_
20 
22 #include "gazebo/util/system.hh"
23 
24 namespace gazebo
25 {
26  namespace physics
27  {
31 
33  class GZ_PHYSICS_VISIBLE SimbodySphereShape : public SphereShape
34  {
37  public: SimbodySphereShape(CollisionPtr _parent) : SphereShape(_parent) {}
38 
40  public: virtual ~SimbodySphereShape() {}
41 
42  // Documentation inherited.
43  public: virtual void SetRadius(double _radius)
44  {
45  if (_radius < 0)
46  {
47  gzerr << "Sphere shape does not support negative radius\n";
48  return;
49  }
50  if (ignition::math::equal(_radius, 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 sphere shape's radius to zero \n";
56  _radius = 1e-4;
57  }
58 
59  SphereShape::SetRadius(_radius);
60  SimbodyCollisionPtr bParent;
61  bParent = boost::dynamic_pointer_cast<SimbodyCollision>(
62  this->collisionParent);
63 
64  // set collision shape
65  }
66  };
68  }
69 }
70 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
#define gzwarn
Output a warning message.
Definition: Console.hh:47
#define gzerr
Output an error message.
Definition: Console.hh:50
Simbody collisions.
Definition: SimbodyCollision.hh:41
virtual void SetRadius(double _radius)
Set the size.
boost::shared_ptr< SimbodyCollision > SimbodyCollisionPtr
Definition: SimbodyTypes.hh:44
Simbody sphere collision.
Definition: SimbodySphereShape.hh:33
virtual void SetRadius(double _radius)
Set the size.
Definition: SimbodySphereShape.hh:43
virtual ~SimbodySphereShape()
Destructor.
Definition: SimbodySphereShape.hh:40
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:113
SimbodySphereShape(CollisionPtr _parent)
Constructor.
Definition: SimbodySphereShape.hh:37
Sphere collision shape.
Definition: SphereShape.hh:39