DART  6.10.1
OdeCollisionGroup.hpp
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32 
33 #ifndef DART_COLLISION_ODE_ODECOLLISIONGROUP_HPP_
34 #define DART_COLLISION_ODE_ODECOLLISIONGROUP_HPP_
35 
36 #include <ode/ode.h>
37 
39 
40 namespace dart {
41 namespace collision {
42 
44 {
45 public:
46  friend class OdeCollisionDetector;
47 
49  OdeCollisionGroup(const CollisionDetectorPtr& collisionDetector);
50 
52  virtual ~OdeCollisionGroup();
53 
54 protected:
56 
57  // Documentation inherited
58  void initializeEngineData() override;
59 
60  // Documentation inherited
61  void addCollisionObjectToEngine(CollisionObject* object) override;
62 
63  // Documentation inherited
65  const std::vector<CollisionObject*>& collObjects) override;
66 
67  // Documentation inherited
68  void removeCollisionObjectFromEngine(CollisionObject* object) override;
69 
70  // Documentation inherited
72 
73  // Documentation inherited
74  void updateCollisionGroupEngineData() override;
75 
77  dSpaceID getOdeSpaceId() const;
78 
79 protected:
81  dSpaceID mSpaceId;
82 };
83 
84 } // namespace collision
85 } // namespace dart
86 
87 #endif // DART_COLLISION_ODE_ODECOLLISIONGROUP_HPP_
Definition: CollisionGroup.hpp:53
void updateEngineData()
Update engine data.
Definition: CollisionGroup.cpp:308
Definition: CollisionObject.hpp:45
OdeCollisionDetector wraps the ODE collision detector.
Definition: OdeCollisionDetector.hpp:53
Definition: OdeCollisionGroup.hpp:44
void updateCollisionGroupEngineData() override
Update the collision detection engine data such as broadphase algorithm.
Definition: OdeCollisionGroup.cpp:117
void initializeEngineData() override
Initialize the collision detection engine data such as broadphase algorithm.
Definition: OdeCollisionGroup.cpp:69
dSpaceID mSpaceId
Top-level space for all sub-spaces/collisions.
Definition: OdeCollisionGroup.hpp:81
OdeCollisionGroup(const CollisionDetectorPtr &collisionDetector)
Constructor.
Definition: OdeCollisionGroup.cpp:41
dSpaceID getOdeSpaceId() const
Returns ODE space id associated with this collision group.
Definition: OdeCollisionGroup.cpp:123
void removeCollisionObjectFromEngine(CollisionObject *object) override
Remove CollisionObject from the collision detection engine.
Definition: OdeCollisionGroup.cpp:99
void removeAllCollisionObjectsFromEngine() override
Remove all the CollisionObjects from the collision detection engine.
Definition: OdeCollisionGroup.cpp:109
void addCollisionObjectToEngine(CollisionObject *object) override
Add CollisionObject to the collision detection engine.
Definition: OdeCollisionGroup.cpp:75
virtual ~OdeCollisionGroup()
Destructor.
Definition: OdeCollisionGroup.cpp:60
void addCollisionObjectsToEngine(const std::vector< CollisionObject * > &collObjects) override
Add CollisionObjects to the collision detection engine.
Definition: OdeCollisionGroup.cpp:85
std::shared_ptr< CollisionDetector > CollisionDetectorPtr
Definition: SmartPointer.hpp:41
Definition: BulletCollisionDetector.cpp:65