75 lines
2.3 KiB
C++
75 lines
2.3 KiB
C++
/*
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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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#ifndef _GAZEBO_DARTRAYSHAPE_HH_
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#define _GAZEBO_DARTRAYSHAPE_HH_
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#include <string>
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#include "gazebo/physics/RayShape.hh"
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#include "gazebo/physics/Shape.hh"
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#include "gazebo/physics/dart/DARTTypes.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_dart
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/// \{
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/// Forward declare private data class
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class DARTRayShapePrivate;
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/// \brief Ray collision
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class GZ_PHYSICS_VISIBLE DARTRayShape : public RayShape
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{
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/// \brief Constructor for a global ray.
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/// \param[in] _physicsEngine Pointer to the physics engine.
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public: explicit DARTRayShape(PhysicsEnginePtr _physicsEngine);
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/// \brief Constructor.
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/// \param[in] _collision Collision object this ray is attached to.
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public: explicit DARTRayShape(CollisionPtr _collision);
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/// \brief Destructor.
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public: virtual ~DARTRayShape();
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/// \brief Update the ray collision
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public: virtual void Update();
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/// \brief Get the nearest intersection
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/// \param[out] _dist Distance to the intersection.
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/// \param[out] _entity Name of the entity that was hit.
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public: virtual void GetIntersection(double &_dist, std::string &_entity);
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/// \brief Set the ray based on starting and ending points relative to
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/// the body
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/// \param[in] _posStart Start position, relative the body
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/// \param[in] _posEnd End position, relative to the body
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public: virtual void SetPoints(const math::Vector3 &_posStart,
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const math::Vector3 &_posEnd);
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/// \internal
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/// \brief Pointer to private data
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private: DARTRayShapePrivate *dataPtr;
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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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