62 lines
1.8 KiB
C++
62 lines
1.8 KiB
C++
|
/*
|
||
|
|
* Copyright (C) 2014 Open Source Robotics Foundation
|
||
|
|
*
|
||
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
||
|
|
* you may not use this file except in compliance with the License.
|
||
|
|
* You may obtain a copy of the License at
|
||
|
|
*
|
||
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
||
|
|
*
|
||
|
|
* Unless required by applicable law or agreed to in writing, software
|
||
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
||
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||
|
|
* See the License for the specific language governing permissions and
|
||
|
|
* limitations under the License.
|
||
|
|
*
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef _GAZEBO_DARTMULTIRAYSHAPE_HH_
|
||
|
|
#define _GAZEBO_DARTMULTIRAYSHAPE_HH_
|
||
|
|
|
||
|
|
#include "gazebo/physics/MultiRayShape.hh"
|
||
|
|
#include "gazebo/physics/dart/DARTTypes.hh"
|
||
|
|
#include "gazebo/util/system.hh"
|
||
|
|
|
||
|
|
namespace gazebo
|
||
|
|
{
|
||
|
|
namespace physics
|
||
|
|
{
|
||
|
|
/// \addtogroup gazebo_physics_dart
|
||
|
|
/// \{
|
||
|
|
|
||
|
|
/// Forward declare private data class
|
||
|
|
class DARTMultiRayShapePrivate;
|
||
|
|
|
||
|
|
/// \brief DART specific version of MultiRayShape
|
||
|
|
class GZ_PHYSICS_VISIBLE DARTMultiRayShape : public MultiRayShape
|
||
|
|
{
|
||
|
|
/// \brief Constructor.
|
||
|
|
/// \param[in] _parent Parent Collision.
|
||
|
|
public: explicit DARTMultiRayShape(CollisionPtr _parent);
|
||
|
|
|
||
|
|
/// \brief Destructor.
|
||
|
|
public: virtual ~DARTMultiRayShape();
|
||
|
|
|
||
|
|
// Documentation inherited.
|
||
|
|
public: virtual void UpdateRays();
|
||
|
|
|
||
|
|
/// \brief Add a ray to the collision.
|
||
|
|
/// \param[in] _start Start location of the ray.
|
||
|
|
/// \param[in] _end End location of the ray.
|
||
|
|
protected: void AddRay(const math::Vector3 &_start,
|
||
|
|
const math::Vector3 &_end);
|
||
|
|
|
||
|
|
/// \internal
|
||
|
|
/// \brief Pointer to private data
|
||
|
|
private: DARTMultiRayShapePrivate *dataPtr;
|
||
|
|
};
|
||
|
|
/// \}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
#endif
|