BulletCollisionGroup.hpp

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#ifndef DART_COLLISION_BULLET_BULLETCOLLISIONGROUP_HPP_
#define DART_COLLISION_BULLET_BULLETCOLLISIONGROUP_HPP_
 
// Must be included before any Bullet headers.
#include "dart/config.hpp"
 
#include <btBulletCollisionCommon.h>
 
#include "dart/collision/CollisionGroup.hpp"
 
namespace dart {
namespace collision {
 
class BulletCollisionGroup : public CollisionGroup
{
public:
  friend class BulletCollisionDetector;
 
  BulletCollisionGroup(const CollisionDetectorPtr& collisionDetector);
 
  virtual ~BulletCollisionGroup() = default;
 
protected:
  // Documentation inherited
  void initializeEngineData() override;
 
  // Documentation inherited
  void addCollisionObjectToEngine(CollisionObject* object) override;
 
  // Documentation inherited
  void addCollisionObjectsToEngine(
      const std::vector<CollisionObject*>& collObjects) override;
 
  // Documentation inherited
  void removeCollisionObjectFromEngine(CollisionObject* object) override;
 
  // Documentation inherited
  void removeAllCollisionObjectsFromEngine() override;
 
  // Documentation inherited
  void updateCollisionGroupEngineData() override;
 
  btCollisionWorld* getBulletCollisionWorld();
 
  const btCollisionWorld* getBulletCollisionWorld() const;
 
protected:
  using CollisionGroup::updateEngineData;
 
  std::unique_ptr<btBroadphaseInterface> mBulletProadphaseAlg;
 
  std::unique_ptr<btCollisionConfiguration> mBulletCollisionConfiguration;
 
  std::unique_ptr<btDispatcher> mBulletDispatcher;
 
  std::unique_ptr<btCollisionWorld> mBulletCollisionWorld;
};
 
} // namespace collision
} // namespace dart
 
#endif // DART_COLLISION_BULLET_BULLETCOLLISIONGROUP_HPP_