87 lines
2.8 KiB
C++
87 lines
2.8 KiB
C++
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/*
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* Copyright (C) 2014 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/common/Console.hh"
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#include "gazebo/physics/dart/DARTPhysics.hh"
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#include "gazebo/physics/dart/DARTCollision.hh"
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#include "gazebo/physics/dart/DARTSphereShape.hh"
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#include "gazebo/util/system.hh"
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#include "gazebo/physics/dart/DARTSphereShapePrivate.hh"
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using namespace gazebo;
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using namespace physics;
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//////////////////////////////////////////////////
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DARTSphereShape::DARTSphereShape(DARTCollisionPtr _parent)
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: SphereShape(_parent),
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dataPtr(new DARTSphereShapePrivate())
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{
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}
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//////////////////////////////////////////////////
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DARTSphereShape::~DARTSphereShape()
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{
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delete this->dataPtr;
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}
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//////////////////////////////////////////////////
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void DARTSphereShape::SetRadius(double _radius)
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{
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if (_radius < 0)
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{
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gzerr << "Sphere shape does not support negative radius.\n";
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return;
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}
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if (math::equal(_radius, 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 sphere shape's radius to zero is not supported "
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<< "in DART, using 1e-4.\n";
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_radius = 1e-4;
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}
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SphereShape::SetRadius(_radius);
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DARTCollisionPtr dartCollisionParent =
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boost::dynamic_pointer_cast<DARTCollision>(this->collisionParent);
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if (dartCollisionParent->GetDARTCollisionShape() == NULL)
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{
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dart::dynamics::BodyNode *dtBodyNode =
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dartCollisionParent->GetDARTBodyNode();
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dart::dynamics::EllipsoidShape *dtEllisoidShape =
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new dart::dynamics::EllipsoidShape(Eigen::Vector3d(_radius*2.0,
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_radius*2.0,
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_radius*2.0));
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dtBodyNode->addCollisionShape(dtEllisoidShape);
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dartCollisionParent->SetDARTCollisionShape(dtEllisoidShape);
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}
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else
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{
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dart::dynamics::EllipsoidShape *dtEllipsoidShape =
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dynamic_cast<dart::dynamics::EllipsoidShape*>(
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dartCollisionParent->GetDARTCollisionShape());
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dtEllipsoidShape->setSize(Eigen::Vector3d(_radius*2.0,
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_radius*2.0,
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_radius*2.0));
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}
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}
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