SimbodyCollision.hh
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1/*
2 * Copyright (C) 2012 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
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17
18#ifndef GAZEBO_PHYSICS_SIMBODY_SIMBODYCOLLISION_HH_
19#define GAZEBO_PHYSICS_SIMBODY_SIMBODYCOLLISION_HH_
20
21#include <string>
22
25#include "gazebo/util/system.hh"
26
27namespace SimTK
28{
29 class ContactGeometry;
30}
31
32namespace gazebo
33{
34 namespace physics
35 {
39
41 class GZ_PHYSICS_VISIBLE SimbodyCollision : public Collision
42 {
44 public: explicit SimbodyCollision(LinkPtr _parent);
45
47 public: virtual ~SimbodyCollision();
48
49 // Documentation inherited
50 public: virtual void Load(sdf::ElementPtr _ptr);
51
52 // Documentation inherited
53 public: virtual void OnPoseChange();
54
55 // Documentation inherited
56 public: virtual void SetCategoryBits(unsigned int _bits);
57
58 // Documentation inherited
59 public: virtual void SetCollideBits(unsigned int _bits);
60
61 // Documentation inherited
62 public: virtual ignition::math::Box BoundingBox() const;
63
67 public: void SetCollisionShape(SimTK::ContactGeometry *_shape);
68
71 public: SimTK::ContactGeometry *GetCollisionShape() const;
72
74 private: SimTK::ContactGeometry *collisionShape;
75 };
77 }
78}
79#endif
default namespace for gazebo
Base class for all collision entities.
Definition Collision.hh:39
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.
Definition SimbodyCollision.hh:28
boost::shared_ptr< Link > LinkPtr
Definition PhysicsTypes.hh:109
Forward declarations for the common classes.
Definition Animation.hh:27