22#ifndef _ODECOLLISION_HH_
23#define _ODECOLLISION_HH_
50 public:
virtual void Load(sdf::ElementPtr _sdf);
53 public:
virtual void Fini();
94 private:
void OnPoseChangeGlobal();
97 private:
void OnPoseChangeRelative();
100 private:
void OnPoseChangeNull();
ODE wrapper forward declarations and typedefs.
default namespace for gazebo
Base class for all collision entities.
Definition Collision.hh:39
Base class for all ODE collisions.
Definition ODECollision.hh:41
virtual void SetCategoryBits(unsigned int bits)
Set the category bits, used during collision detection.
virtual void Fini()
Finalize the collision.
void SetCollision(dGeomID _collisionId, bool _placeable)
Set the encapsulated collision object.
virtual ~ODECollision()
Destructor.
virtual ignition::math::Box BoundingBox() const
Get the bounding box for this collision.
dGeomID GetCollisionId() const
Return the collision id.
void SetSpaceId(dSpaceID _spaceid)
Set the collision's space ID.
virtual void SetCollideBits(unsigned int bits)
Set the collide bits, used during collision detection.
ODESurfaceParamsPtr GetODESurface() const
Similar to Collision::GetSurface, but provides dynamically casted pointer to ODESurfaceParams.
ODECollision(LinkPtr _parent)
Constructor.
virtual void Load(sdf::ElementPtr _sdf)
Load the collision.
int GetCollisionClass() const
Get the ODE collision class.
virtual void OnPoseChange()
This function is called when the entity's (or one of its parents) pose of the parent has changed.
dSpaceID spaceId
Collision space for this.
Definition ODECollision.hh:103
dGeomID collisionId
ID for the collision.
Definition ODECollision.hh:106
dSpaceID GetSpaceId() const
Get the collision's space ID.
boost::shared_ptr< ODESurfaceParams > ODESurfaceParamsPtr
Definition ODETypes.hh:55
boost::shared_ptr< Link > LinkPtr
Definition PhysicsTypes.hh:109
Forward declarations for the common classes.
Definition Animation.hh:27