77 lines
2.1 KiB
C++
77 lines
2.1 KiB
C++
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/*
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* Copyright (C) 2014 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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#include "gazebo/common/Assert.hh"
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#include "gazebo/physics/World.hh"
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#include "gazebo/physics/Link.hh"
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#include "gazebo/physics/dart/DARTPhysics.hh"
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#include "gazebo/physics/dart/DARTTypes.hh"
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#include "gazebo/physics/dart/DARTLink.hh"
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#include "gazebo/physics/dart/DARTCollision.hh"
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#include "gazebo/physics/dart/DARTRayShape.hh"
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#include "gazebo/physics/dart/DARTRayShapePrivate.hh"
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using namespace gazebo;
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using namespace physics;
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//////////////////////////////////////////////////
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DARTRayShape::DARTRayShape(PhysicsEnginePtr _physicsEngine)
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: RayShape(_physicsEngine),
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dataPtr(new DARTRayShapePrivate())
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{
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this->SetName("DART_ray_shape");
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}
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//////////////////////////////////////////////////
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DARTRayShape::DARTRayShape(CollisionPtr _parent)
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: RayShape(_parent),
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dataPtr(new DARTRayShapePrivate())
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{
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this->SetName("DART_ray_shape");
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}
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//////////////////////////////////////////////////
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DARTRayShape::~DARTRayShape()
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{
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}
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//////////////////////////////////////////////////
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void DARTRayShape::Update()
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{
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// Not implemented yet, please see issue #911
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}
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//////////////////////////////////////////////////
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void DARTRayShape::GetIntersection(double &_dist, std::string &_entity)
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{
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_dist = 0;
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_entity = "";
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// Not implemented yet, please see issue #911
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}
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//////////////////////////////////////////////////
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void DARTRayShape::SetPoints(const math::Vector3& _posStart,
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const math::Vector3& _posEnd)
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{
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RayShape::SetPoints(_posStart, _posEnd);
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// Not implemented yet, please see issue #911
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}
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