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WheelGeom.hh
Go to the documentation of this file.00001 /* 00002 * Gazebo - Outdoor Multi-Robot Simulator 00003 * Copyright (C) 2003 00004 * Nate Koenig & Andrew Howard 00005 * 00006 * This program is free software; you can redistribute it and/or modify 00007 * it under the terms of the GNU General Public License as published by 00008 * the Free Software Foundation; either version 2 of the License, or 00009 * (at your option) any later version. 00010 * 00011 * This program is distributed in the hope that it will be useful, 00012 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 * GNU General Public License for more details. 00015 * 00016 * You should have received a copy of the GNU General Public License 00017 * along with this program; if not, write to the Free Software 00018 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00019 * 00020 */ 00021 /* Desc: A wheel geom - draws as a cylinder but behaives as a sphere (for 00022 * collsion with meshes) 00023 * Author: Nate Keonig, Andrew Howard 00024 * Date: 9 Feb 2004 00025 * CVS: $Id: WheelGeom.hh,v 1.4 2004/08/16 07:29:03 inspectorg Exp $ 00026 */ 00027 00028 #ifndef WHEELGEOM_HH 00029 #define WHEELGEOM_HH 00030 00031 #include "Geom.hh" 00032 00033 00034 class WheelGeom : public Geom 00035 { 00036 public: WheelGeom(Body *body, dSpaceID spaceId, double totalRadius, double tireRadius); 00037 public: virtual ~WheelGeom(); 00038 00039 // Render the geom (GL) 00040 public: virtual void Render(RenderOptions *opt); 00041 00042 // Dimensions 00043 private: double totalRadius, tireRadius; 00044 }; 00045 00046 00047 #endif
