Simbody collisions.
Definition SimbodyCollision.hh:42
SimTK::ContactGeometry * GetCollisionShape() const
Get the simbody collision shape.
virtual void Load(sdf::ElementPtr _ptr)
Load the collision.
void SetCollisionShape(SimTK::ContactGeometry *_shape)
Set the collision shape.
virtual ignition::math::Box BoundingBox() const
Get the bounding box for this collision.
virtual void SetCollideBits(unsigned int _bits)
Set the collide bits, used during collision detection.
virtual void SetCategoryBits(unsigned int _bits)
Set the category bits, used during collision detection.
virtual ~SimbodyCollision()
Destructor.
virtual void OnPoseChange()
This function is called when the entity's (or one of its parents) pose of the parent has changed.
SimbodyCollision(LinkPtr _parent)
Constructor.