63 lines
1.8 KiB
C++
63 lines
1.8 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 _ODESPHERESHAPE_HH_
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#define _ODESPHERESHAPE_HH_
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#include "gazebo/physics/ode/ODEPhysics.hh"
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#include "gazebo/physics/ode/ODECollision.hh"
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#include "gazebo/physics/PhysicsTypes.hh"
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#include "gazebo/physics/SphereShape.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_ode
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/// \{
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/// \brief A ODE sphere shape
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class GZ_PHYSICS_VISIBLE ODESphereShape : public SphereShape
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{
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/// \brief Constructor.
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/// \param[in] _parent Parent Collision.
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public: explicit ODESphereShape(ODECollisionPtr _parent)
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: SphereShape(_parent) {}
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/// \brief Destructor.
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public: virtual ~ODESphereShape() {}
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// Documentation inherited.
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public: virtual void SetRadius(double _radius)
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{
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SphereShape::SetRadius(_radius);
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ODECollisionPtr oParent;
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oParent =
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boost::dynamic_pointer_cast<ODECollision>(this->collisionParent);
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// Create the sphere geometry
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if (oParent->GetCollisionId() == NULL)
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oParent->SetCollision(dCreateSphere(0, _radius), true);
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else
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dGeomSphereSetRadius(oParent->GetCollisionId(), _radius);
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}
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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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