89 lines
2.6 KiB
C++
89 lines
2.6 KiB
C++
/*
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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 _SHAPE_HH_
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#define _SHAPE_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 <string>
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#include "gazebo/msgs/msgs.hh"
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#include "gazebo/common/CommonTypes.hh"
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#include "gazebo/physics/PhysicsTypes.hh"
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#include "gazebo/physics/Inertial.hh"
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#include "gazebo/physics/Base.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 Shape Shape.hh physics/physics.hh
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/// \brief Base class for all shapes.
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class GZ_PHYSICS_VISIBLE Shape : public Base
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{
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/// \brief Constructor.
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/// \param[in] _parent Parent of the shape.
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public: explicit Shape(CollisionPtr _parent);
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/// \brief Destructor.
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public: virtual ~Shape();
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/// \brief Initialize the shape.
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public: virtual void Init() = 0;
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/// \brief Set the scale of the shape.
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/// \param[in] _scale Scale to set the shape to.
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public: virtual void SetScale(const math::Vector3 &_scale) = 0;
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/// \brief Get the scale of the shape.
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/// \return Scale of the shape.
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public: virtual math::Vector3 GetScale() const;
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/// \brief Fill in the values for a geometry message.
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/// \param[out] _msg The geometry message to fill.
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public: virtual void FillMsg(msgs::Geometry &_msg) = 0;
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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) = 0;
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/// \brief Get the volume of this shape. Implemented accurately for
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/// simple shapes; an approximation is used for meshes, polylines, etc.
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/// \return The shape volume in kg/m^3.
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public: virtual double ComputeVolume() const;
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/// \brief This shape's collision parent.
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protected: CollisionPtr collisionParent;
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/// \brief This shape's scale;
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protected: math::Vector3 scale;
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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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