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SimbodyBoxShape.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 GAZEBO_PHYSICS_SIMBODY_SIMBODYBOXSHAPE_HH_
#define GAZEBO_PHYSICS_SIMBODY_SIMBODYBOXSHAPE_HH_
#include "gazebo/physics/simbody/SimbodyPhysics.hh"
#include "gazebo/physics/BoxShape.hh"
#include "gazebo/util/system.hh"
namespace gazebo
{
namespace physics
{
class GZ_PHYSICS_VISIBLE SimbodyBoxShape : public BoxShape
{
public: explicit SimbodyBoxShape(CollisionPtr _parent)
: BoxShape(_parent) {}
public: virtual ~SimbodyBoxShape() {}
// Documentation inherited
public: void SetSize(const ignition::math::Vector3d &_size)
{
if (_size.X() < 0 || _size.Y() < 0 || _size.Z() < 0)
{
gzerr << "Box shape does not support negative size\n";
return;
}
ignition::math::Vector3d size = _size;
if (ignition::math::equal(size.X(), 0.0))
{
// Warn user, but still create shape with very small value
// otherwise later resize operations using setLocalScaling
// will not be possible
gzwarn << "Setting box shape's x to zero \n";
size.X() = 1e-4;
}
if (ignition::math::equal(size.Y(), 0.0))
{
gzwarn << "Setting box shape's y to zero \n";
size.Y() = 1e-4;
}
if (ignition::math::equal(size.Z(), 0.0))
{
gzwarn << "Setting box shape's z to zero \n";
size.Z() = 1e-4;
}
BoxShape::SetSize(size);
SimbodyCollisionPtr bParent;
bParent = boost::dynamic_pointer_cast<SimbodyCollision>(
this->collisionParent);
}
};
}
}
#endif
gazebo::physics::SimbodyBoxShape::SetSize
void SetSize(const ignition::math::Vector3d &_size)
Set the size of the box.
Definition: SimbodyBoxShape.hh:43
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
gazebo::physics::SimbodyBoxShape::~SimbodyBoxShape
virtual ~SimbodyBoxShape()
Destructor.
Definition: SimbodyBoxShape.hh:40
gzwarn
#define gzwarn
Output a warning message.
Definition: Console.hh:47
system.hh
gzerr
#define gzerr
Output an error message.
Definition: Console.hh:50
BoxShape.hh
gazebo::physics::BoxShape
Box geometry primitive.
Definition: BoxShape.hh:34
gazebo::physics::Shape::collisionParent
CollisionPtr collisionParent
This shape's collision parent.
Definition: Shape.hh:73
gazebo::physics::SimbodyCollisionPtr
boost::shared_ptr< SimbodyCollision > SimbodyCollisionPtr
Definition: SimbodyTypes.hh:44
gazebo::physics::CollisionPtr
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:113
gazebo::physics::BoxShape::SetSize
virtual void SetSize(const ignition::math::Vector3d &_size)
Set the size of the box.
gazebo::physics::SimbodyBoxShape::SimbodyBoxShape
SimbodyBoxShape(CollisionPtr _parent)
Constructor.
Definition: SimbodyBoxShape.hh:36
gazebo::physics::SimbodyBoxShape
Simbody box collision.
Definition: SimbodyBoxShape.hh:33
SimbodyPhysics.hh