67 lines
1.8 KiB
C++
67 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/ode/ODEMesh.hh"
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#include "gazebo/physics/ode/ODECollision.hh"
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#include "gazebo/physics/ode/ODEPhysics.hh"
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#include "gazebo/physics/ode/ODEPolylineShape.hh"
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using namespace gazebo;
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using namespace physics;
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//////////////////////////////////////////////////
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ODEPolylineShape::ODEPolylineShape(CollisionPtr _parent)
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: PolylineShape(_parent)
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{
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this->odeMesh = new ODEMesh();
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}
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//////////////////////////////////////////////////
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ODEPolylineShape::~ODEPolylineShape()
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{
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delete this->odeMesh;
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}
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//////////////////////////////////////////////////
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void ODEPolylineShape::Update()
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{
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this->odeMesh->Update();
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}
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//////////////////////////////////////////////////
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void ODEPolylineShape::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 ODEPolylineShape::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 ode. Mesh pointer is null.\n";
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return;
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}
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this->odeMesh->Init(this->mesh,
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boost::static_pointer_cast<ODECollision>(this->collisionParent),
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math::Vector3(1, 1, 1));
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}
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