BulletOverlapFilterCallback.hpp

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#ifndef DART_COLLISION_BULLET_DETAIL_BULLETOVERLAPFILTERCALLBACK_HPP_
#define DART_COLLISION_BULLET_DETAIL_BULLETOVERLAPFILTERCALLBACK_HPP_
 
// Must be included before any Bullet headers.
#include "dart/config.hpp"
 
#include <btBulletCollisionCommon.h>
 
#include "dart/collision/CollisionOption.hpp"
#include "dart/collision/CollisionResult.hpp"
 
namespace dart {
namespace collision {
namespace detail {
 
struct BulletOverlapFilterCallback : public btOverlapFilterCallback
{
  // Constructor
  explicit BulletOverlapFilterCallback(
      const std::shared_ptr<CollisionFilter>& filter = nullptr,
      CollisionGroup* group1 = nullptr,
      CollisionGroup* group2 = nullptr);
 
  bool needBroadphaseCollision(
      btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) const override;
 
  bool foundCollision;
 
  mutable bool done;
 
  std::shared_ptr<CollisionFilter> filter;
  const CollisionGroup* group1;
  const CollisionGroup* group2;
};
 
} // namespace detail
} // namespace collision
} // namespace dart
 
#endif // DART_COLLISION_BULLET_DETAIL_BULLETOVERLAPFILTERCALLBACK_HPP_