116 lines
2.9 KiB
C++
116 lines
2.9 KiB
C++
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/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifdef _WIN32
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// Ensure that Winsock2.h is included before Windows.h, which can get
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// pulled in by anybody (e.g., Boost).
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#include <Winsock2.h>
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#endif
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#include "gazebo/physics/Collision.hh"
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#include "gazebo/physics/PlaneShape.hh"
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using namespace gazebo;
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using namespace physics;
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//////////////////////////////////////////////////
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PlaneShape::PlaneShape(CollisionPtr _parent)
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: Shape(_parent)
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{
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this->AddType(PLANE_SHAPE);
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this->SetName("plane_shape");
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}
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//////////////////////////////////////////////////
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PlaneShape::~PlaneShape()
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{
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}
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//////////////////////////////////////////////////
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void PlaneShape::Init()
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{
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this->CreatePlane();
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}
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//////////////////////////////////////////////////
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void PlaneShape::CreatePlane()
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{
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}
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//////////////////////////////////////////////////
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void PlaneShape::SetAltitude(const math::Vector3 &/*_pos*/)
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{
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}
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//////////////////////////////////////////////////
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void PlaneShape::SetNormal(const math::Vector3 &_norm)
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{
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this->sdf->GetElement("normal")->Set(_norm);
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this->CreatePlane();
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}
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//////////////////////////////////////////////////
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math::Vector3 PlaneShape::GetNormal() const
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{
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return this->sdf->Get<math::Vector3>("normal");
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}
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//////////////////////////////////////////////////
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void PlaneShape::SetSize(const math::Vector2d &_size)
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{
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this->sdf->GetElement("size")->Set(_size);
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}
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//////////////////////////////////////////////////
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math::Vector2d PlaneShape::GetSize() const
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{
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return this->sdf->Get<math::Vector2d>("size");
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}
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//////////////////////////////////////////////////
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void PlaneShape::SetScale(const math::Vector3 &_scale)
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{
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if (this->scale == _scale)
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return;
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this->scale = _scale;
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math::Vector2d size = this->GetSize() * math::Vector2d(_scale.x, scale.y);
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this->SetSize(size);
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}
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//////////////////////////////////////////////////
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void PlaneShape::FillMsg(msgs::Geometry &_msg)
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{
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_msg.set_type(msgs::Geometry::PLANE);
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msgs::Set(_msg.mutable_plane()->mutable_normal(), this->GetNormal().Ign());
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msgs::Set(_msg.mutable_plane()->mutable_size(), this->GetSize().Ign());
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}
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//////////////////////////////////////////////////
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void PlaneShape::ProcessMsg(const msgs::Geometry &_msg)
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{
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this->SetNormal(msgs::ConvertIgn(_msg.plane().normal()));
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}
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//////////////////////////////////////////////////
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double PlaneShape::ComputeVolume() const
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{
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return 0;
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}
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