71 lines
1.9 KiB
C++
71 lines
1.9 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/common/Console.hh"
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#include "gazebo/physics/Collision.hh"
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#include "gazebo/physics/Shape.hh"
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using namespace gazebo;
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using namespace physics;
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//////////////////////////////////////////////////
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Shape::Shape(CollisionPtr _p)
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: Base(_p)
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{
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this->AddType(Base::SHAPE);
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this->SetName("shape");
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if (_p)
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this->collisionParent = _p;
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this->scale = math::Vector3::One;
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}
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//////////////////////////////////////////////////
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Shape::~Shape()
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{
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if (this->collisionParent)
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this->collisionParent->SetShape(ShapePtr());
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}
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//////////////////////////////////////////////////
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math::Vector3 Shape::GetScale() const
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{
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return this->scale;
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}
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//////////////////////////////////////////////////
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double Shape::ComputeVolume() const
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{
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if (!this->collisionParent)
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{
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gzerr << "Cannot discern shape type, returning 0 volume" << std::endl;
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return 0;
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}
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gzwarn << "ComputeVolume not fully implemented for this shape type, returning"
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<< " bounding box approximation" << std::endl;
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math::Vector3 size = this->collisionParent->GetBoundingBox().GetSize();
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return size.x * size.y * size.z;
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}
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