118 lines
4.1 KiB
C++
118 lines
4.1 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: Sphere collisionetry
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* Author: Nate Koenig
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* Date: 21 May 2009
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*/
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#ifndef _BULLETSPHERESHAPE_HH_
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#define _BULLETSPHERESHAPE_HH_
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#include "gazebo/physics/bullet/BulletPhysics.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/SphereShape.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 sphere collision
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class GZ_PHYSICS_VISIBLE BulletSphereShape : public SphereShape
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{
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/// \brief Constructor
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public: BulletSphereShape(CollisionPtr _parent) : SphereShape(_parent) {}
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/// \brief Destructor
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public: virtual ~BulletSphereShape() {}
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/// \brief Set the radius
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/// \param[in] _radius Sphere radius
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public: void SetRadius(double _radius)
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{
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if (_radius < 0)
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{
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gzerr << "Sphere shape does not support negative radius\n";
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return;
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}
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if (math::equal(_radius, 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 sphere shape's radius to zero \n";
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_radius = 1e-4;
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}
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SphereShape::SetRadius(_radius);
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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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btCollisionShape *shape = bParent->GetCollisionShape();
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if (!shape)
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{
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this->initialSize = math::Vector3(_radius, _radius, _radius);
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bParent->SetCollisionShape(new btSphereShape(_radius));
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}
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else
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{
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btVector3 sphereScale;
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sphereScale.setX(_radius / this->initialSize.x);
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sphereScale.setY(_radius / this->initialSize.y);
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sphereScale.setZ(_radius / this->initialSize.z);
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shape->setLocalScaling(sphereScale);
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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 sphere.
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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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