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ODESphereShape.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 _ODESPHERESHAPE_HH_
#define _ODESPHERESHAPE_HH_
#include "gazebo/physics/ode/ODEPhysics.hh"
#include "gazebo/physics/ode/ODECollision.hh"
#include "gazebo/physics/PhysicsTypes.hh"
#include "gazebo/physics/SphereShape.hh"
#include "gazebo/util/system.hh"
namespace gazebo
{
namespace physics
{
class GZ_PHYSICS_VISIBLE ODESphereShape : public SphereShape
{
public: explicit ODESphereShape(ODECollisionPtr _parent)
: SphereShape(_parent) {}
public: virtual ~ODESphereShape() {}
// Documentation inherited.
public: virtual void SetRadius(double _radius)
{
SphereShape::SetRadius(_radius);
ODECollisionPtr oParent;
oParent =
boost::dynamic_pointer_cast<ODECollision>(this->collisionParent);
// Create the sphere geometry
if (oParent->GetCollisionId() == nullptr)
oParent->SetCollision(dCreateSphere(0, _radius), true);
else
dGeomSphereSetRadius(oParent->GetCollisionId(), _radius);
}
};
}
}
#endif
gazebo::physics::ODESphereShape::~ODESphereShape
virtual ~ODESphereShape()
Destructor.
Definition: ODESphereShape.hh:42
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
gazebo::physics::SphereShape::SetRadius
virtual void SetRadius(double _radius)
Set the size.
SphereShape.hh
gazebo::physics::ODECollisionPtr
boost::shared_ptr< ODECollision > ODECollisionPtr
Definition: ODETypes.hh:39
gazebo::physics::SphereShape
Sphere collision shape.
Definition: SphereShape.hh:33
system.hh
PhysicsTypes.hh
default namespace for gazebo
ODECollision.hh
gazebo::physics::ODESphereShape
A ODE sphere shape.
Definition: ODESphereShape.hh:34
gazebo::physics::Shape::collisionParent
CollisionPtr collisionParent
This shape's collision parent.
Definition: Shape.hh:73
ODEPhysics.hh
gazebo::physics::ODESphereShape::SetRadius
virtual void SetRadius(double _radius)
Set the size.
Definition: ODESphereShape.hh:45
gazebo::physics::ODESphereShape::ODESphereShape
ODESphereShape(ODECollisionPtr _parent)
Constructor.
Definition: ODESphereShape.hh:38