BulletRayShape.hh
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1 /*
2  * Copyright (C) 2012-2016 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 /* Desc: A ray
18  * Author: Nate Koenig
19  * Date: 24 May 2009
20  */
21 
22 #ifndef _BULLETRAYGEOM_HH_
23 #define _BULLETRAYGEOM_HH_
24 
25 #include <string>
27 #include "gazebo/util/system.hh"
28 
29 namespace gazebo
30 {
31  namespace physics
32  {
36 
38  class GZ_PHYSICS_VISIBLE BulletRayShape : public RayShape
39  {
40  public: BulletRayShape(PhysicsEnginePtr _physicsEngine);
41 
44  public: BulletRayShape(CollisionPtr _collision);
45 
47  public: virtual ~BulletRayShape();
48 
50  public: virtual void Update();
51 
53  public: virtual void GetIntersection(double &_dist, std::string &_entity);
54 
59  public: void SetPoints(const math::Vector3 &_posStart,
60  const math::Vector3 &_posEnd);
61 
63  private: BulletPhysicsPtr physicsEngine;
64  };
66  }
67 }
68 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:39
Ray shape for bullet.
Definition: BulletRayShape.hh:38
boost::shared_ptr< BulletPhysics > BulletPhysicsPtr
Definition: BulletTypes.hh:45
boost::shared_ptr< PhysicsEngine > PhysicsEnginePtr
Definition: PhysicsTypes.hh:116
Base class for Ray collision geometry.
Definition: RayShape.hh:40
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:104