54 lines
1.5 KiB
C++
54 lines
1.5 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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#include "gazebo/physics/simbody/SimbodyPlaneShape.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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using namespace gazebo;
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using namespace physics;
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/////////////////////////////////////////////////
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SimbodyPlaneShape::SimbodyPlaneShape(CollisionPtr _parent)
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: PlaneShape(_parent)
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{
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}
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/////////////////////////////////////////////////
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SimbodyPlaneShape::~SimbodyPlaneShape()
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{
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}
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/////////////////////////////////////////////////
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void SimbodyPlaneShape::SetAltitude(const math::Vector3 &_pos)
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{
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PlaneShape::SetAltitude(_pos);
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}
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/////////////////////////////////////////////////
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void SimbodyPlaneShape::CreatePlane()
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{
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PlaneShape::CreatePlane();
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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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math::Vector3 n = this->GetNormal();
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// set collision shape
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}
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