FCLCollisionObject.hpp

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#ifndef DART_COLLISION_FCL_FCLCOLLISIONOBJECT_HPP_
#define DART_COLLISION_FCL_FCLCOLLISIONOBJECT_HPP_
 
#include "dart/collision/CollisionObject.hpp"
#include "dart/collision/fcl/BackwardCompatibility.hpp"
 
namespace dart {
namespace collision {
 
class FCLCollisionObject : public CollisionObject
{
public:
  friend class FCLCollisionDetector;
 
  dart::collision::fcl::CollisionObject* getFCLCollisionObject();
 
  const dart::collision::fcl::CollisionObject* getFCLCollisionObject() const;
 
protected:
  FCLCollisionObject(
      CollisionDetector* collisionDetector,
      const dynamics::ShapeFrame* shapeFrame,
      const fcl_shared_ptr<dart::collision::fcl::CollisionGeometry>&
          fclCollGeom);
 
  // Documentation inherited
  void updateEngineData() override;
 
protected:
  std::unique_ptr<dart::collision::fcl::CollisionObject> mFCLCollisionObject;
};
 
} // namespace collision
} // namespace dart
 
#endif // DART_COLLISION_FCL_FCLCOLLISIONOBJECT_HPP_