92 lines
2.4 KiB
C++
92 lines
2.4 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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/* Desc: Sphere shape
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* Author: Nate Koenig
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* Date: 14 Oct 2009
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*/
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#include "gazebo/physics/SphereShape.hh"
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using namespace gazebo;
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using namespace physics;
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//////////////////////////////////////////////////
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SphereShape::SphereShape(CollisionPtr _parent)
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: Shape(_parent)
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{
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this->AddType(Base::SPHERE_SHAPE);
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}
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//////////////////////////////////////////////////
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SphereShape::~SphereShape()
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{
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}
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//////////////////////////////////////////////////
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void SphereShape::Init()
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{
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this->SetRadius(this->sdf->Get<double>("radius"));
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}
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//////////////////////////////////////////////////
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void SphereShape::SetRadius(double _radius)
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{
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this->sdf->GetElement("radius")->Set(_radius);
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}
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//////////////////////////////////////////////////
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double SphereShape::GetRadius() const
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{
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return this->sdf->Get<double>("radius");
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}
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//////////////////////////////////////////////////
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void SphereShape::SetScale(const math::Vector3 &_scale)
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{
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if (_scale.x < 0 || _scale.y < 0 || _scale.z < 0)
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return;
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if (_scale == this->scale)
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return;
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double newRadius = std::max(_scale.z, std::max(_scale.x, _scale.y));
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double oldRadius = std::max(this->scale.z,
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std::max(this->scale.x, this->scale.y));
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this->SetRadius((newRadius/oldRadius)*this->GetRadius());
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this->scale = _scale;
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}
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//////////////////////////////////////////////////
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void SphereShape::FillMsg(msgs::Geometry &_msg)
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{
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_msg.set_type(msgs::Geometry::SPHERE);
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_msg.mutable_sphere()->set_radius(this->GetRadius());
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}
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//////////////////////////////////////////////////
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void SphereShape::ProcessMsg(const msgs::Geometry &_msg)
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{
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this->SetRadius(_msg.sphere().radius());
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}
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//////////////////////////////////////////////////
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double SphereShape::ComputeVolume() const
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{
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return 4*M_PI*pow(this->GetRadius(), 3)/3;
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}
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