97 lines
2.9 KiB
C++
97 lines
2.9 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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/* Desc: Plane shape
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* Author: Nate Koenig
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* Date: 14 Oct 2009
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*/
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#ifndef _PLANESHAPE_HH_
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#define _PLANESHAPE_HH_
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#include "gazebo/math/Vector2d.hh"
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#include "gazebo/common/CommonTypes.hh"
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#include "gazebo/physics/Shape.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
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/// \{
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/// \class PlaneShape PlaneShape.hh physics/physics.hh
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/// \brief Collision for an infinite plane.
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///
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/// This collision is used primarily for ground planes. Note that while
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/// the plane in infinite, only the part near the camera is drawn.
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class GZ_PHYSICS_VISIBLE PlaneShape : public Shape
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{
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/// \brief Constructor.
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/// \param[in] _parent Link to which we are attached.
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public: explicit PlaneShape(CollisionPtr _parent);
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/// \brief Destructor.
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public: virtual ~PlaneShape();
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/// \brief Initialize the plane.
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public: virtual void Init();
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/// \brief Create the plane.
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public: virtual void CreatePlane();
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/// \brief Set the altitude of the plane.
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/// \param[in] _pos Position of the plane.
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public: virtual void SetAltitude(const math::Vector3 &_pos);
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/// \brief Set the normal.
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/// \param[in] _norm Plane normal.
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public: void SetNormal(const math::Vector3 &_norm);
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/// \brief Get the plane normal.
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/// \return The plane normal.
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public: math::Vector3 GetNormal() const;
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/// \brief Set the size.
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/// \param[in] _size 2D size of the plane.
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public: void SetSize(const math::Vector2d &_size);
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/// \brief Get the size.
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/// \return Size of the plane.
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public: math::Vector2d GetSize() const;
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/// \brief Set the scale of the plane.
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/// \return _scale Scale to set the plane to.
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public: virtual void SetScale(const math::Vector3 &_scale);
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/// \brief Fill a geometry message with data from this object.
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/// \param[out] _msg Message to fill.
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public: void FillMsg(msgs::Geometry &_msg);
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/// \brief Process a geometry message and use the data to update
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/// this object.
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/// \param[in] _msg Message to update from.
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public: virtual void ProcessMsg(const msgs::Geometry &_msg);
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/// Documentation inherited
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public: virtual double ComputeVolume() const;
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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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