83 lines
2.4 KiB
C++
83 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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#ifndef _SPHERESHAPE_HH_
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#define _SPHERESHAPE_HH_
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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/physics/Shape.hh"
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#include "gazebo/physics/PhysicsTypes.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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namespace physics
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{
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/// \addtogroup gazebo_physics
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/// \{
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/// \class SphereShape SphereShape.hh physics/physics.hh
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/// \brief Sphere collision shape.
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class GZ_PHYSICS_VISIBLE SphereShape : public Shape
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{
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/// \brief Constructor.
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/// \param[in] _parent Parent collision object.
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public: explicit SphereShape(CollisionPtr _parent);
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/// \brief Destructor.
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public: virtual ~SphereShape();
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/// \brief Initialize the sphere.
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public: virtual void Init();
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/// \brief Set the size.
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/// \param[in] _radius Radius of the sphere.
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public: virtual void SetRadius(double _radius);
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/// \brief Get the sphere's radius.
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/// \return Radius of the sphere.
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public: double GetRadius() const;
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/// \brief Set the scale of the sphere.
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/// \param[in] _scale Scale to set the sphere to.
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public: virtual void SetScale(const math::Vector3 &_scale);
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/// \brief Fill in the values for a geomertry message.
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/// \param[out] _msg The geometry message to fill.
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public: virtual void FillMsg(msgs::Geometry &_msg);
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/// \brief Process a geometry message.
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/// \param[in] _msg The message to set values from.
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public: virtual void ProcessMsg(const msgs::Geometry &_msg);
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/// Documentation inherited
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public: virtual double ComputeVolume() const;
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};
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/// \}
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}
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}
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#endif
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