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BulletMotionState.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.
*
*/
/* Desc: Bullet motion state class.
* Author: Nate Koenig
* Date: 25 May 2009
*/
#ifndef _BULLETMOTIONSTATE_HH_
#define _BULLETMOTIONSTATE_HH_
#include "gazebo/physics/bullet/bullet_inc.h"
#include "gazebo/physics/PhysicsTypes.hh"
#include "gazebo/util/system.hh"
namespace gazebo
{
namespace physics
{
class Link;
class GZ_PHYSICS_VISIBLE BulletMotionState : public btMotionState
{
public: explicit BulletMotionState(LinkPtr _link);
public: virtual ~BulletMotionState();
public: virtual void getWorldTransform(btTransform &_cogWorldTrans) const;
public: virtual void setWorldTransform(const btTransform &_cogWorldTrans);
private: LinkPtr link;
};
}
}
#endif
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
gazebo::physics::BulletMotionState::getWorldTransform
virtual void getWorldTransform(btTransform &_cogWorldTrans) const
Get the world transform of the body at the center of gravity.
system.hh
bullet_inc.h
PhysicsTypes.hh
default namespace for gazebo
gazebo::physics::BulletMotionState::~BulletMotionState
virtual ~BulletMotionState()
Destructor.
gazebo::physics::BulletMotionState::setWorldTransform
virtual void setWorldTransform(const btTransform &_cogWorldTrans)
Set the world transform of the body at the center of gravity.
gazebo::physics::BulletMotionState::BulletMotionState
BulletMotionState(LinkPtr _link)
Constructor.
gazebo::physics::LinkPtr
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:109
gazebo::physics::BulletMotionState
Bullet btMotionState encapsulation.
Definition: BulletMotionState.hh:40