65 lines
1.9 KiB
C++
65 lines
1.9 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: Bullet motion state class.
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* Author: Nate Koenig
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* Date: 25 May 2009
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*/
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#ifndef _BULLETMOTIONSTATE_HH_
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#define _BULLETMOTIONSTATE_HH_
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#include "gazebo/physics/bullet/bullet_inc.h"
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#include "gazebo/physics/PhysicsTypes.hh"
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#include "gazebo/math/MathTypes.hh"
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#include "gazebo/math/Pose.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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class Link;
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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 btMotionState encapsulation
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class GZ_PHYSICS_VISIBLE BulletMotionState : public btMotionState
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{
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/// \brief Constructor
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public: BulletMotionState(LinkPtr _link);
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/// \brief Destructor
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public: virtual ~BulletMotionState();
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/// \brief Get the world transform of the body at the center of gravity.
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/// \param[out] _cogWorldTrans Pose of body center of gravity.
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public: virtual void getWorldTransform(btTransform &_cogWorldTrans) const;
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/// \brief Set the world transform of the body at the center of gravity.
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/// \param[in] _cogWorldTrans Pose of body center of gravity.
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public: virtual void setWorldTransform(const btTransform &_cogWorldTrans);
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/// \brief Pointer to parent link.
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private: LinkPtr link;
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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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