69 lines
2.0 KiB
C++
69 lines
2.0 KiB
C++
/*
|
|
* Copyright (C) 2012 Open Source Robotics Foundation
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*
|
|
*/
|
|
/* Desc: A ray
|
|
* Author: Nate Koenig
|
|
* Date: 24 May 2009
|
|
*/
|
|
|
|
#ifndef _BULLETRAYGEOM_HH_
|
|
#define _BULLETRAYGEOM_HH_
|
|
|
|
#include <string>
|
|
#include "gazebo/physics/RayShape.hh"
|
|
#include "gazebo/util/system.hh"
|
|
|
|
namespace gazebo
|
|
{
|
|
namespace physics
|
|
{
|
|
/// \ingroup gazebo_physics
|
|
/// \addtogroup gazebo_physics_bullet Bullet Physics
|
|
/// \{
|
|
|
|
/// \brief Ray shape for bullet
|
|
class GZ_PHYSICS_VISIBLE BulletRayShape : public RayShape
|
|
{
|
|
public: BulletRayShape(PhysicsEnginePtr _physicsEngine);
|
|
|
|
/// \brief Constructor
|
|
/// \param body Link the ray is attached to
|
|
public: BulletRayShape(CollisionPtr _collision);
|
|
|
|
/// \brief Destructor
|
|
public: virtual ~BulletRayShape();
|
|
|
|
/// \brief Update the ray collision
|
|
public: virtual void Update();
|
|
|
|
/// \brief Get the nearest intersection
|
|
public: virtual void GetIntersection(double &_dist, std::string &_entity);
|
|
|
|
/// \brief Set the ray based on starting and ending points relative to
|
|
/// the body
|
|
/// \param posStart Start position, relative the body
|
|
/// \param posEnd End position, relative to the body
|
|
public: void SetPoints(const math::Vector3 &_posStart,
|
|
const math::Vector3 &_posEnd);
|
|
|
|
/// \brief Pointer to the Bullet physics engine
|
|
private: BulletPhysicsPtr physicsEngine;
|
|
};
|
|
/// \}
|
|
}
|
|
}
|
|
#endif
|