18#ifndef GAZEBO_PHYSICS_DART_DARTCOLLISION_HH_
19#define GAZEBO_PHYSICS_DART_DARTCOLLISION_HH_
32 class DARTCollisionPrivate;
48 public:
virtual void Load(sdf::ElementPtr _sdf);
51 public:
virtual void Init();
54 public:
virtual void Fini();
84 dart::dynamics::ShapeNodePtr _shape,
85 const bool _placeable =
true);
99 private: DARTCollisionPrivate *dataPtr;
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