DART  6.10.1
BulletCollisionObject.hpp
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32 
33 #ifndef DART_COLLISION_BULLET_BULLETCOLLISIONOBJECT_HPP_
34 #define DART_COLLISION_BULLET_BULLETCOLLISIONOBJECT_HPP_
35 
36 // Must be included before any Bullet headers.
37 #include "dart/config.hpp"
38 
39 #include <btBulletCollisionCommon.h>
40 
43 
44 namespace dart {
45 namespace collision {
46 
47 class CollisionObject;
48 
50 {
51 public:
53 
55  btCollisionObject* getBulletCollisionObject();
56 
58  const btCollisionObject* getBulletCollisionObject() const;
59 
60 protected:
63  CollisionDetector* collisionDetector,
64  const dynamics::ShapeFrame* shapeFrame,
65  const std::shared_ptr<BulletCollisionShape>& bulletCollisionShape);
66 
67  // Documentation inherited
68  void updateEngineData() override;
69 
70 protected:
72  std::shared_ptr<BulletCollisionShape> mBulletCollisionShape;
73  std::unique_ptr<btCollisionObject> mBulletCollisionObject;
74 };
75 
76 } // namespace collision
77 } // namespace dart
78 
79 #endif // DART_COLLISION_BULLET_BULLETCOLLISIONOBJECT_HPP_
Definition: BulletCollisionDetector.hpp:50
Definition: BulletCollisionObject.hpp:50
std::unique_ptr< btCollisionObject > mBulletCollisionObject
Definition: BulletCollisionObject.hpp:73
void updateEngineData() override
Update the collision object of the collision detection engine.
Definition: BulletCollisionObject.cpp:71
std::shared_ptr< BulletCollisionShape > mBulletCollisionShape
Bullet collision object.
Definition: BulletCollisionObject.hpp:72
btCollisionObject * getBulletCollisionObject()
Return Bullet collision object.
Definition: BulletCollisionObject.cpp:42
BulletCollisionObject(CollisionDetector *collisionDetector, const dynamics::ShapeFrame *shapeFrame, const std::shared_ptr< BulletCollisionShape > &bulletCollisionShape)
Constructor.
Definition: BulletCollisionObject.cpp:54
Definition: CollisionDetector.hpp:58
Definition: CollisionObject.hpp:45
Definition: ShapeFrame.hpp:192
::fcl::CollisionObject CollisionObject
Definition: BackwardCompatibility.hpp:161
Definition: BulletCollisionDetector.cpp:65