92 lines
2.3 KiB
C++
92 lines
2.3 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/math/Vector3.hh"
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#include "gazebo/physics/BoxShape.hh"
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using namespace gazebo;
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using namespace physics;
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//////////////////////////////////////////////////
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BoxShape::BoxShape(CollisionPtr _parent) : Shape(_parent)
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{
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this->AddType(Base::BOX_SHAPE);
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}
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//////////////////////////////////////////////////
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BoxShape::~BoxShape()
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{
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}
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//////////////////////////////////////////////////
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void BoxShape::Init()
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{
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this->SetSize(this->sdf->Get<math::Vector3>("size"));
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}
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//////////////////////////////////////////////////
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void BoxShape::SetSize(const math::Vector3 &_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::Vector3 BoxShape::GetSize() const
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{
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return this->sdf->Get<math::Vector3>("size");
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}
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//////////////////////////////////////////////////
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void BoxShape::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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this->SetSize((_scale/this->scale)*this->GetSize());
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this->scale = _scale;
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}
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//////////////////////////////////////////////////
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void BoxShape::FillMsg(msgs::Geometry &_msg)
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{
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_msg.set_type(msgs::Geometry::BOX);
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msgs::Set(_msg.mutable_box()->mutable_size(), this->GetSize().Ign());
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}
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//////////////////////////////////////////////////
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void BoxShape::ProcessMsg(const msgs::Geometry &_msg)
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{
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this->SetSize(msgs::ConvertIgn(_msg.box().size()));
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}
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//////////////////////////////////////////////////
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double BoxShape::ComputeVolume() const
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{
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math::Vector3 size = this->GetSize();
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return size.x * size.y * size.z;
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}
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