62 lines
1.8 KiB
C++
62 lines
1.8 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_DARTMULTIRAYSHAPE_HH_
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#define _GAZEBO_DARTMULTIRAYSHAPE_HH_
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#include "gazebo/physics/MultiRayShape.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 DARTMultiRayShapePrivate;
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/// \brief DART specific version of MultiRayShape
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class GZ_PHYSICS_VISIBLE DARTMultiRayShape : public MultiRayShape
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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 DARTMultiRayShape(CollisionPtr _parent);
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/// \brief Destructor.
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public: virtual ~DARTMultiRayShape();
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// Documentation inherited.
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public: virtual void UpdateRays();
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/// \brief Add a ray to the collision.
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/// \param[in] _start Start location of the ray.
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/// \param[in] _end End location of the ray.
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protected: void AddRay(const math::Vector3 &_start,
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const math::Vector3 &_end);
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/// \internal
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/// \brief Pointer to private data
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private: DARTMultiRayShapePrivate *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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