66 lines
2.0 KiB
C++
66 lines
2.0 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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#include "gazebo/common/Exception.hh"
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#include "gazebo/physics/World.hh"
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#include "gazebo/physics/bullet/BulletTypes.hh"
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#include "gazebo/physics/bullet/BulletLink.hh"
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#include "gazebo/physics/bullet/BulletCollision.hh"
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#include "gazebo/physics/bullet/BulletPhysics.hh"
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#include "gazebo/physics/bullet/BulletRayShape.hh"
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#include "gazebo/physics/bullet/BulletMultiRayShape.hh"
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using namespace gazebo;
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using namespace physics;
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//////////////////////////////////////////////////
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BulletMultiRayShape::BulletMultiRayShape(CollisionPtr _parent)
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: MultiRayShape(_parent)
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{
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this->SetName("Bullet Multiray Shape");
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this->physicsEngine = boost::static_pointer_cast<BulletPhysics>(
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this->collisionParent->GetWorld()->GetPhysicsEngine());
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}
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//////////////////////////////////////////////////
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BulletMultiRayShape::~BulletMultiRayShape()
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{
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}
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//////////////////////////////////////////////////
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void BulletMultiRayShape::UpdateRays()
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{
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std::vector<RayShapePtr>::iterator iter;
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for (iter = this->rays.begin(); iter != this->rays.end(); ++iter)
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{
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(*iter)->Update();
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}
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}
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//////////////////////////////////////////////////
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void BulletMultiRayShape::AddRay(const math::Vector3 &_start,
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const math::Vector3 &_end)
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{
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MultiRayShape::AddRay(_start, _end);
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BulletRayShapePtr ray(new BulletRayShape(this->collisionParent));
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ray->SetPoints(_start, _end);
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this->rays.push_back(ray);
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}
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