81 lines
2.5 KiB
C++
81 lines
2.5 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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#ifndef _SIMBODY_BOXSHAPE_HH_
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#define _SIMBODY_BOXSHAPE_HH_
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#include "gazebo/physics/simbody/SimbodyPhysics.hh"
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#include "gazebo/physics/BoxShape.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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/// \ingroup gazebo_physics
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/// \addtogroup gazebo_physics_simbody Simbody Physics
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/// \{
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/// \brief Simbody box collision
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class GZ_PHYSICS_VISIBLE SimbodyBoxShape : public BoxShape
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{
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/// \brief Constructor
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public: SimbodyBoxShape(CollisionPtr _parent) : BoxShape(_parent) {}
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/// \brief Destructor
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public: virtual ~SimbodyBoxShape() {}
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// Documentation inherited
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public: void SetSize(const math::Vector3 &_size)
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{
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if (_size.x < 0 || _size.y < 0 || _size.z < 0)
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{
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gzerr << "Box shape does not support negative size\n";
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return;
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}
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math::Vector3 size = _size;
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if (math::equal(size.x, 0.0))
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{
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// Warn user, but still create shape with very small value
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// otherwise later resize operations using setLocalScaling
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// will not be possible
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gzwarn << "Setting box shape's x to zero \n";
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size.x = 1e-4;
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}
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if (math::equal(size.y, 0.0))
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{
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gzwarn << "Setting box shape's y to zero \n";
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size.y = 1e-4;
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}
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if (math::equal(size.z, 0.0))
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{
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gzwarn << "Setting box shape's z to zero \n";
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size.z = 1e-4;
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}
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BoxShape::SetSize(size);
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SimbodyCollisionPtr bParent;
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bParent = boost::dynamic_pointer_cast<SimbodyCollision>(
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this->collisionParent);
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}
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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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