BulletCollisionShape.hpp

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#ifndef DART_COLLISION_BULLET_BULLETCOLLISIONSHAPE_HPP_
#define DART_COLLISION_BULLET_BULLETCOLLISIONSHAPE_HPP_
 
#include <memory>
 
// Must be included before any Bullet headers.
#include "dart/config.hpp"
 
#include <btBulletCollisionCommon.h>
 
namespace dart {
namespace collision {
 
struct BulletCollisionShape
{
  std::unique_ptr<btCollisionShape> mCollisionShape;
 
  std::unique_ptr<btTransform> mRelativeTransform;
 
  BulletCollisionShape(
      std::unique_ptr<btCollisionShape> collisionShape,
      const btTransform& relativeTransform);
 
  explicit BulletCollisionShape(std::unique_ptr<btCollisionShape> collShape);
};
 
} // namespace collision
} // namespace dart
 
#endif // DART_COLLISION_BULLET_BULLETCOLLISIONSHAPE_HPP_