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ODECylinderShape.hh
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/*
* 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.
*
*/
#ifndef _ODECYLINDERSHAPE_HH_
#define _ODECYLINDERSHAPE_HH_
#include "gazebo/physics/CylinderShape.hh"
#include "gazebo/physics/ode/ODEPhysics.hh"
#include "gazebo/util/system.hh"
namespace gazebo
{
namespace physics
{
class GZ_PHYSICS_VISIBLE ODECylinderShape : public CylinderShape
{
public: explicit ODECylinderShape(CollisionPtr _parent)
: CylinderShape(_parent) {}
public: virtual ~ODECylinderShape() {}
// Documentation inerited.
public: void SetSize(double _radius, double _length)
{
CylinderShape::SetSize(_radius, _length);
ODECollisionPtr oParent;
oParent =
boost::dynamic_pointer_cast<ODECollision>(this->collisionParent);
if (oParent->GetCollisionId() == nullptr)
oParent->SetCollision(dCreateCylinder(0, _radius, _length), true);
else
dGeomCylinderSetParams(oParent->GetCollisionId(), _radius, _length);
}
};
}
}
#endif
gazebo::physics::CylinderShape::SetSize
virtual void SetSize(double _radius, double _length)
Set the size of the cylinder.
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
gazebo::physics::ODECollisionPtr
boost::shared_ptr< ODECollision > ODECollisionPtr
Definition: ODETypes.hh:39
gazebo::physics::CylinderShape
Cylinder collision.
Definition: CylinderShape.hh:32
gazebo::physics::ODECylinderShape::ODECylinderShape
ODECylinderShape(CollisionPtr _parent)
Constructor.
Definition: ODECylinderShape.hh:36
system.hh
gazebo::physics::ODECylinderShape::~ODECylinderShape
virtual ~ODECylinderShape()
Destructor.
Definition: ODECylinderShape.hh:40
gazebo::physics::ODECylinderShape::SetSize
void SetSize(double _radius, double _length)
Set the size of the cylinder.
Definition: ODECylinderShape.hh:43
gazebo::physics::Shape::collisionParent
CollisionPtr collisionParent
This shape's collision parent.
Definition: Shape.hh:73
ODEPhysics.hh
CylinderShape.hh
gazebo::physics::ODECylinderShape
ODE cylinder shape.
Definition: ODECylinderShape.hh:32
gazebo::physics::CollisionPtr
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:113