RayShape.hh

/*
 * Copyright 2011 Nate Koenig & Andrew Howard
 *
 * 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: A ray
 * Author: Nate Keonig
 * Date: 14 Oct 2009
*/

#ifndef RAYSHAPE_HH
#define RAYSHAPE_HH

#include <float.h>

#include "physics/PhysicsTypes.hh"
#include "physics/Shape.hh"

namespace gazebo
{
    namespace physics
  {

    class RayShape : public Shape
    {
      public: RayShape(PhysicsEnginePtr _physicsEngine);

      public: RayShape(CollisionPtr parent, bool displayRays);
    
      public: virtual ~RayShape();
  
      public: virtual void SetPoints(const math::Vector3 &posStart, 
                                     const math::Vector3 &posEnd);
              
    
      public: virtual void GetRelativePoints(math::Vector3 &posA, 
                                             math::Vector3 &posB);
  
      public: virtual void GetGlobalPoints(math::Vector3 &posA,
                                           math::Vector3 &posB);
  
      public: virtual void SetLength( double len );
  
      public: double GetLength() const;
  
      public: virtual void Update() = 0;
   
      public: virtual void GetIntersection(double &_dist,
                                           std::string &_entity) = 0;

      public: void SetRetro( float retro );
    
      public: float GetRetro() const;
  
      public: void SetFiducial( int fid );
  
      public: int GetFiducial() const;
  
      public: virtual void Load( sdf::ElementPtr &_sdf );

      public: virtual void Init();
              
      public: void FillShapeMsg(msgs::Geometry &) {}
  
      public: virtual void ProcessMsg(const msgs::Geometry &) {}

      protected: double contactLen;
      protected: double contactRetro;
      protected: int contactFiducial;
    
      protected: math::Vector3 relativeStartPos;
      protected: math::Vector3 relativeEndPos;
    
      protected: math::Vector3 globalStartPos;
      protected: math::Vector3 globalEndPos;
    };
  }
}
#endif