Source

gazebo / gazebo / physics / rtql8 / RTQL8BoxShape.hh

The branch 'john_rtql8' does not exist.
Full commit
/*
 * Copyright 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 _RTQL8BOXSHAPE_HH_
#define _RTQL8BOXSHAPE_HH_

#include "math/Vector3.hh"

#include "physics/rtql8/RTQL8Physics.hh"
#include "physics/rtql8/RTQL8Types.hh"
#include "physics/rtql8/RTQL8Collision.hh"

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

namespace gazebo
{
  namespace physics
  {
    /// \brief RTQL8 Box shape
    class RTQL8BoxShape : public BoxShape
    {
      /// \brief Constructor.
      /// \param[in] _parent Parent Collision.
      public: explicit RTQL8BoxShape(RTQL8CollisionPtr _parent)
              : BoxShape(_parent) {}

      /// \brief Destructor.
      public: virtual ~RTQL8BoxShape() {}

      // Documentation inherited.
      public: virtual void SetSize(const math::Vector3 & /*_size*/)
      {
//      BoxShape::SetSize(_size);
// 
//      RTQL8CollisionPtr oParent;
//      oParent = boost::shared_dynamic_cast<RTQL8Collision>(
//          this->collisionParent);
// 
//      if (oParent->GetCollisionId() == NULL)
//        oParent->SetCollision(dCreateBox(0, _size.x, _size.y, _size.z), true);
//      else
//        dGeomBoxSetLengths(oParent->GetCollisionId(),
//                              _size.x, _size.y, _size.z);
      }
    };
  }
}
#endif