SimbodyRayShape.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
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13  * See the License for the specific language governing permissions and
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17 
18 #ifndef _SIMBODY_RAY_SHAPE_HH_
19 #define _SIMBODY_RAY_SHAPE_HH_
20 
21 #include <string>
23 #include "gazebo/util/system.hh"
24 
25 namespace gazebo
26 {
27  namespace physics
28  {
32 
34  class GZ_PHYSICS_VISIBLE SimbodyRayShape : public RayShape
35  {
38  public: SimbodyRayShape(PhysicsEnginePtr _physicsEngine);
39 
42  public: SimbodyRayShape(CollisionPtr _collision);
43 
45  public: virtual ~SimbodyRayShape();
46 
47  // Documentation inherited
48  public: virtual void Update();
49 
50  // Documentation inherited
51  public: virtual void GetIntersection(double &_dist, std::string &_entity);
52 
53  // Documentation inherited
54  public: virtual void SetPoints(const math::Vector3 &_posStart,
55  const math::Vector3 &_posEnd);
56 
58  private: SimbodyPhysicsPtr physicsEngine;
59  };
61  }
62 }
63 #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 simbody.
Definition: SimbodyRayShape.hh:34
boost::shared_ptr< PhysicsEngine > PhysicsEnginePtr
Definition: PhysicsTypes.hh:116
boost::shared_ptr< SimbodyPhysics > SimbodyPhysicsPtr
Definition: SimbodyTypes.hh:40
Base class for Ray collision geometry.
Definition: RayShape.hh:40
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:104