126 lines
4.5 KiB
C++
126 lines
4.5 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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#ifndef _GAZEBO_BULLETBOXSHAPE_HH_
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#define _GAZEBO_BULLETBOXSHAPE_HH_
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#include "gazebo/physics/bullet/BulletPhysics.hh"
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#include "gazebo/physics/bullet/BulletTypes.hh"
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#include "gazebo/physics/bullet/BulletCollision.hh"
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#include "gazebo/physics/bullet/BulletLink.hh"
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#include "gazebo/physics/World.hh"
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#include "gazebo/physics/BoxShape.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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/// \ingroup gazebo_physics
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/// \addtogroup gazebo_physics_bullet Bullet Physics
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/// \{
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/// \brief Bullet box collision
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class GZ_PHYSICS_VISIBLE BulletBoxShape : public BoxShape
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{
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/// \brief Constructor
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public: BulletBoxShape(CollisionPtr _parent) : BoxShape(_parent) {}
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/// \brief Destructor
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public: virtual ~BulletBoxShape() {}
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/// \brief Set the size of the box
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public: void SetSize(const math::Vector3 &_size)
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{
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if (_size.x < 0 || _size.y < 0 || _size.z < 0)
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{
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gzerr << "Box shape does not support negative size\n";
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return;
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}
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math::Vector3 size = _size;
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if (math::equal(size.x, 0.0))
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{
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// Warn user, but still create shape with very small value
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// otherwise later resize operations using setLocalScaling
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// will not be possible
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gzwarn << "Setting box shape's x to zero \n";
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size.x = 1e-4;
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}
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if (math::equal(size.y, 0.0))
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{
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gzwarn << "Setting box shape's y to zero \n";
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size.y = 1e-4;
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}
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if (math::equal(size.z, 0.0))
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{
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gzwarn << "Setting box shape's z to zero \n";
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size.z = 1e-4;
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}
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BoxShape::SetSize(size);
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BulletCollisionPtr bParent;
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bParent = boost::dynamic_pointer_cast<BulletCollision>(
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this->collisionParent);
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/// Bullet requires the half-extents of the box
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btCollisionShape *shape = bParent->GetCollisionShape();
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if (!shape)
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{
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this->initialSize = size;
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bParent->SetCollisionShape(new btBoxShape(
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btVector3(size.x*0.5, size.y*0.5, size.z*0.5)));
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}
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else
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{
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btVector3 boxScale = shape->getLocalScaling();
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boxScale.setX(size.x / this->initialSize.x);
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boxScale.setY(size.y / this->initialSize.y);
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boxScale.setZ(size.z / this->initialSize.z);
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shape->setLocalScaling(boxScale);
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// clear bullet cache and re-add the collision shape
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// otherwise collisions won't work properly after scaling
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BulletLinkPtr bLink =
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boost::dynamic_pointer_cast<BulletLink>(
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bParent->GetLink());
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bLink->ClearCollisionCache();
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// remove and add the shape again
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if (bLink->GetBulletLink()->getCollisionShape()->isCompound())
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{
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btCompoundShape *compoundShape =
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dynamic_cast<btCompoundShape *>(
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bLink->GetBulletLink()->getCollisionShape());
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compoundShape->removeChildShape(shape);
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auto relativePose =
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this->collisionParent->GetRelativePose().Ign()
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- bLink->GetInertial()->GetPose().Ign();
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compoundShape->addChildShape(
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BulletTypes::ConvertPose(relativePose), shape);
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}
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}
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}
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/// \brief Initial size of box.
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private: math::Vector3 initialSize;
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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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