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BulletPlaneShape.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_BULLET_BULLETPLANESHAPE_HH_
#define GAZEBO_PHYSICS_BULLET_BULLETPLANESHAPE_HH_
#include <iostream>
#include "gazebo/physics/bullet/BulletPhysics.hh"
#include "gazebo/physics/bullet/BulletCollision.hh"
#include "gazebo/physics/PlaneShape.hh"
#include "gazebo/util/system.hh"
namespace gazebo
{
namespace physics
{
class GZ_PHYSICS_VISIBLE BulletPlaneShape : public PlaneShape
{
public: explicit BulletPlaneShape(CollisionPtr _parent)
: PlaneShape(_parent) {}
public: virtual ~BulletPlaneShape() {}
public: void SetAltitude(const ignition::math::Vector3d &pos)
{
PlaneShape::SetAltitude(pos);
}
public: void CreatePlane()
{
PlaneShape::CreatePlane();
BulletCollisionPtr bParent;
bParent = boost::dynamic_pointer_cast<BulletCollision>(
this->collisionParent);
ignition::math::Vector3d n = this->Normal();
btVector3 vec(n.X(), n.Y(), n.Z());
bParent->SetCollisionShape(new btStaticPlaneShape(vec, 0.0),
false);
}
};
}
}
#endif
gazebo::physics::PlaneShape::Normal
ignition::math::Vector3d Normal() const
Get the plane normal.
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
gazebo::physics::BulletCollisionPtr
boost::shared_ptr< BulletCollision > BulletCollisionPtr
Definition: BulletTypes.hh:39
gazebo::physics::BulletPlaneShape::SetAltitude
void SetAltitude(const ignition::math::Vector3d &pos)
Set the altitude of the plane.
Definition: BulletPlaneShape.hh:46
gazebo::physics::BulletPlaneShape::CreatePlane
void CreatePlane()
Create the plane.
Definition: BulletPlaneShape.hh:52
system.hh
PlaneShape.hh
BulletCollision.hh
gazebo::physics::PlaneShape
Collision for an infinite plane.
Definition: PlaneShape.hh:37
gazebo::physics::PlaneShape::SetAltitude
virtual void SetAltitude(const ignition::math::Vector3d &_pos)
Set the altitude of the plane.
gazebo::physics::Shape::collisionParent
CollisionPtr collisionParent
This shape's collision parent.
Definition: Shape.hh:73
BulletPhysics.hh
gazebo::physics::PlaneShape::CreatePlane
virtual void CreatePlane()
Create the plane.
gazebo::physics::BulletPlaneShape::~BulletPlaneShape
virtual ~BulletPlaneShape()
Destructor.
Definition: BulletPlaneShape.hh:43
gazebo::physics::CollisionPtr
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:113
gazebo::physics::BulletPlaneShape
Bullet collision for an infinite plane.
Definition: BulletPlaneShape.hh:36
gazebo::physics::BulletPlaneShape::BulletPlaneShape
BulletPlaneShape(CollisionPtr _parent)
Constructor.
Definition: BulletPlaneShape.hh:39