BulletCollisionDispatcher.hpp

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#ifndef DART_COLLISION_BULLET_DETAIL_BULLETCOLLISIONDISPATCHER_HPP_
#define DART_COLLISION_BULLET_DETAIL_BULLETCOLLISIONDISPATCHER_HPP_
 
// Must be included before any Bullet headers.
#include "dart/config.hpp"
 
#include <btBulletCollisionCommon.h>
 
#include "dart/collision/CollisionFilter.hpp"
#include "dart/collision/CollisionObject.hpp"
 
namespace dart {
namespace collision {
namespace detail {
 
class BulletCollisionDispatcher : public btCollisionDispatcher
{
public:
  explicit BulletCollisionDispatcher(btCollisionConfiguration* config);
 
  void setDone(bool done);
 
  bool getDone() const;
 
  void setFilter(const std::shared_ptr<CollisionFilter>& filter);
 
  auto getFilter() const -> std::shared_ptr<CollisionFilter>;
 
  bool needsCollision(
      const btCollisionObject* body0, const btCollisionObject* body1) override;
 
protected:
  bool mDone;
 
  std::shared_ptr<CollisionFilter> mFilter;
};
 
} // namespace detail
} // namespace collision
} // namespace dart
 
#endif // DART_COLLISION_BULLET_DETAIL_BULLETCOLLISIONDISPATCHER_HPP_