75 lines
2.1 KiB
C++
75 lines
2.1 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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#include "gazebo/physics/World.hh"
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#include "gazebo/physics/simbody/SimbodyLink.hh"
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#include "gazebo/physics/simbody/SimbodyPhysics.hh"
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#include "gazebo/physics/simbody/SimbodyTypes.hh"
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#include "gazebo/physics/simbody/SimbodyCollision.hh"
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#include "gazebo/physics/simbody/SimbodyRayShape.hh"
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using namespace gazebo;
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using namespace physics;
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//////////////////////////////////////////////////
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SimbodyRayShape::SimbodyRayShape(PhysicsEnginePtr _physicsEngine)
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: RayShape(_physicsEngine)
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{
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this->SetName("Simbody Ray Shape");
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this->physicsEngine =
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boost::static_pointer_cast<SimbodyPhysics>(_physicsEngine);
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}
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//////////////////////////////////////////////////
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SimbodyRayShape::SimbodyRayShape(CollisionPtr _parent)
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: RayShape(_parent)
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{
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this->SetName("Simbody Ray Shape");
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this->physicsEngine = boost::static_pointer_cast<SimbodyPhysics>(
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this->collisionParent->GetWorld()->GetPhysicsEngine());
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}
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//////////////////////////////////////////////////
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SimbodyRayShape::~SimbodyRayShape()
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{
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}
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//////////////////////////////////////////////////
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void SimbodyRayShape::Update()
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{
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}
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//////////////////////////////////////////////////
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void SimbodyRayShape::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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if (this->physicsEngine)
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{
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}
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}
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//////////////////////////////////////////////////
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void SimbodyRayShape::SetPoints(const math::Vector3 &_posStart,
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const math::Vector3 &_posEnd)
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{
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this->globalStartPos = _posStart;
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this->globalEndPos = _posEnd;
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}
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