63 lines
1.8 KiB
C++
63 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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#include "gazebo/common/Mesh.hh"
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#include "gazebo/common/Console.hh"
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#include "gazebo/physics/dart/DARTMesh.hh"
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#include "gazebo/physics/dart/DARTCollision.hh"
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#include "gazebo/physics/dart/DARTPhysics.hh"
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#include "gazebo/physics/dart/DARTPolylineShape.hh"
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#include "gazebo/physics/dart/DARTPolylineShapePrivate.hh"
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using namespace gazebo;
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using namespace physics;
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//////////////////////////////////////////////////
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DARTPolylineShape::DARTPolylineShape(CollisionPtr _parent)
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: PolylineShape(_parent),
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dataPtr(new DARTPolylineShapePrivate())
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{
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}
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//////////////////////////////////////////////////
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DARTPolylineShape::~DARTPolylineShape()
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{
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delete this->dataPtr;
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}
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//////////////////////////////////////////////////
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void DARTPolylineShape::Load(sdf::ElementPtr _sdf)
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{
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PolylineShape::Load(_sdf);
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}
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//////////////////////////////////////////////////
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void DARTPolylineShape::Init()
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{
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PolylineShape::Init();
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if (!this->mesh)
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{
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gzerr << "Unable to create polyline in DART. Mesh pointer is null.\n";
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return;
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}
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this->dataPtr->dartMesh->Init(this->mesh,
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boost::static_pointer_cast<DARTCollision>(this->collisionParent),
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math::Vector3(1, 1, 1));
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}
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