67 lines
2.0 KiB
C++
67 lines
2.0 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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#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/DARTPlaneShape.hh"
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#include "gazebo/util/system.hh"
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#include "gazebo/physics/dart/DARTPlaneShapePrivate.hh"
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using namespace gazebo;
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using namespace physics;
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//////////////////////////////////////////////////
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DARTPlaneShape::DARTPlaneShape(CollisionPtr _parent)
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: PlaneShape(_parent),
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dataPtr(new DARTPlaneShapePrivate())
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{
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}
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//////////////////////////////////////////////////
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DARTPlaneShape::~DARTPlaneShape()
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{
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delete this->dataPtr;
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}
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//////////////////////////////////////////////////
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void DARTPlaneShape::CreatePlane()
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{
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PlaneShape::CreatePlane();
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DARTCollisionPtr dartCollisionParent =
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boost::dynamic_pointer_cast<DARTCollision>(this->collisionParent);
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// math::Vector3 n = this->GetNormal();
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dart::dynamics::BodyNode *dtBodyNode =
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dartCollisionParent->GetDARTBodyNode();
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dart::dynamics::BoxShape *dtBoxShape =
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new dart::dynamics::BoxShape(Eigen::Vector3d(2100, 2100, 0.01));
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dtBodyNode->addCollisionShape(dtBoxShape);
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dtBoxShape->setOffset(Eigen::Vector3d(0.0, 0.0, -0.005));
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dartCollisionParent->SetDARTCollisionShape(dtBoxShape, false);
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}
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//////////////////////////////////////////////////
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void DARTPlaneShape::SetAltitude(const math::Vector3 &_pos)
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{
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PlaneShape::SetAltitude(_pos);
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}
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