DARTCollision.hh
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1/*
2 * Copyright (C) 2014 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.
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16*/
17
18#ifndef GAZEBO_PHYSICS_DART_DARTCOLLISION_HH_
19#define GAZEBO_PHYSICS_DART_DARTCOLLISION_HH_
20
25#include "gazebo/util/system.hh"
26
27namespace gazebo
28{
29 namespace physics
30 {
32 class DARTCollisionPrivate;
33
36
38 class GZ_PHYSICS_VISIBLE DARTCollision : public Collision
39 {
42 public: explicit DARTCollision(LinkPtr _parent);
43
45 public: virtual ~DARTCollision();
46
47 // Documentation inherited.
48 public: virtual void Load(sdf::ElementPtr _sdf);
49
50 // Documentation inherited.
51 public: virtual void Init();
52
53 // Documentation inherited.
54 public: virtual void Fini();
55
56 // Documentation inherited.
57 public: virtual void OnPoseChange();
58
59 // Documentation inherited.
60 public: virtual void SetCategoryBits(unsigned int _bits);
61
62 // Documentation inherited.
63 public: virtual void SetCollideBits(unsigned int _bits);
64
67 public: virtual unsigned int GetCategoryBits() const;
68
71 public: virtual unsigned int GetCollideBits() const;
72
73 // Documentation inherited.
74 public: virtual ignition::math::Box BoundingBox() const;
75
78 public: dart::dynamics::BodyNode *DARTBodyNode() const;
79
84 dart::dynamics::ShapeNodePtr _shape,
85 const bool _placeable = true);
86
89 public: dart::dynamics::ShapeNodePtr DARTCollisionShapeNode() const;
90
91
96
99 private: DARTCollisionPrivate *dataPtr;
100 };
102 }
103}
104#endif
DART wrapper forward declarations and typedefs.
default namespace for gazebo
Base class for all collision entities.
Definition Collision.hh:39
Base class for all DART collisions.
Definition DARTCollision.hh:39
dart::dynamics::ShapeNodePtr DARTCollisionShapeNode() const
Get DART collision shape node.
virtual void Fini()
Finalize the collision.
virtual void Init()
Initialize the collision.
virtual ~DARTCollision()
Destructor.
virtual ignition::math::Box BoundingBox() const
Get the bounding box for this collision.
DARTSurfaceParamsPtr DARTSurface() const
Similar to Collision::GetSurface, but provides dynamically casted pointer to DARTSurfaceParams.
void SetDARTCollisionShapeNode(dart::dynamics::ShapeNodePtr _shape, const bool _placeable=true)
Set DART collision shape.
virtual void SetCollideBits(unsigned int _bits)
Set the collide bits, used during collision detection.
virtual unsigned int GetCollideBits() const
Get the collide bits, used during collision detection.
virtual void SetCategoryBits(unsigned int _bits)
Set the category bits, used during collision detection.
virtual void Load(sdf::ElementPtr _sdf)
Load the collision.
virtual unsigned int GetCategoryBits() const
Get the category bits, used during collision detection.
DARTCollision(LinkPtr _parent)
Constructor.
virtual void OnPoseChange()
This function is called when the entity's (or one of its parents) pose of the parent has changed.
dart::dynamics::BodyNode * DARTBodyNode() const
Get DART body node.
boost::shared_ptr< Link > LinkPtr
Definition PhysicsTypes.hh:109
boost::shared_ptr< DARTSurfaceParams > DARTSurfaceParamsPtr
Definition DARTTypes.hh:51
Forward declarations for the common classes.
Definition Animation.hh:27