DART  6.10.1
DARTCollisionGroup.hpp
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32 
33 #ifndef DART_COLLISION_DART_DARTCOLLISIONGROUP_HPP_
34 #define DART_COLLISION_DART_DARTCOLLISIONGROUP_HPP_
35 
37 
38 namespace dart {
39 namespace collision {
40 
41 class DARTCollisionObject;
42 
44 {
45 public:
46  friend class DARTCollisionDetector;
47 
49  DARTCollisionGroup(const CollisionDetectorPtr& collisionDetector);
50 
52  virtual ~DARTCollisionGroup() = default;
53 
54 protected:
55  // Documentation inherited
56  void initializeEngineData() override;
57 
58  // Documentation inherited
59  void addCollisionObjectToEngine(CollisionObject* object) override;
60 
61  // Documentation inherited
63  const std::vector<CollisionObject*>& collObjects) override;
64 
65  // Documentation inherited
66  void removeCollisionObjectFromEngine(CollisionObject* object) override;
67 
68  // Documentation inherited
70 
71  // Documentation inherited
72  void updateCollisionGroupEngineData() override;
73 
74 protected:
76  std::vector<CollisionObject*> mCollisionObjects;
77 };
78 
79 } // namespace collision
80 } // namespace dart
81 
82 #endif // DART_COLLISION_DART_DARTCOLLISIONGROUP_HPP_
Definition: CollisionGroup.hpp:53
Definition: CollisionObject.hpp:45
Definition: DARTCollisionDetector.hpp:45
Definition: DARTCollisionGroup.hpp:44
void addCollisionObjectsToEngine(const std::vector< CollisionObject * > &collObjects) override
Add CollisionObjects to the collision detection engine.
Definition: DARTCollisionGroup.cpp:65
void updateCollisionGroupEngineData() override
Update the collision detection engine data such as broadphase algorithm.
Definition: DARTCollisionGroup.cpp:87
void addCollisionObjectToEngine(CollisionObject *object) override
Add CollisionObject to the collision detection engine.
Definition: DARTCollisionGroup.cpp:55
void removeAllCollisionObjectsFromEngine() override
Remove all the CollisionObjects from the collision detection engine.
Definition: DARTCollisionGroup.cpp:81
std::vector< CollisionObject * > mCollisionObjects
CollisionObjects added to this DARTCollisionGroup.
Definition: DARTCollisionGroup.hpp:76
void removeCollisionObjectFromEngine(CollisionObject *object) override
Remove CollisionObject from the collision detection engine.
Definition: DARTCollisionGroup.cpp:73
void initializeEngineData() override
Initialize the collision detection engine data such as broadphase algorithm.
Definition: DARTCollisionGroup.cpp:49
DARTCollisionGroup(const CollisionDetectorPtr &collisionDetector)
Constructor.
Definition: DARTCollisionGroup.cpp:41
virtual ~DARTCollisionGroup()=default
Destructor.
std::shared_ptr< CollisionDetector > CollisionDetectorPtr
Definition: SmartPointer.hpp:41
Definition: BulletCollisionDetector.cpp:65