FCLCollisionGroup.hpp

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#ifndef DART_COLLISION_FCL_FCLCOLLISIONGROUP_HPP_
#define DART_COLLISION_FCL_FCLCOLLISIONGROUP_HPP_
 
#include "dart/collision/CollisionGroup.hpp"
#include "dart/collision/fcl/BackwardCompatibility.hpp"
 
namespace dart {
namespace collision {
 
class CollisionObject;
class FCLCollisionObjectUserData;
 
class FCLCollisionGroup : public CollisionGroup
{
public:
 
  friend class FCLCollisionDetector;
 
  using FCLCollisionManager = dart::collision::fcl::DynamicAABBTreeCollisionManager;
 
  FCLCollisionGroup(const CollisionDetectorPtr& collisionDetector);
 
  virtual ~FCLCollisionGroup() = default;
 
protected:
 
  using CollisionGroup::updateEngineData;
 
  // 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;
 
  FCLCollisionManager* getFCLCollisionManager();
 
  const FCLCollisionManager* getFCLCollisionManager() const;
 
protected:
 
  std::unique_ptr<FCLCollisionManager> mBroadPhaseAlg;
 
};
 
}  // namespace collision
}  // namespace dart
 
#endif  // DART_COLLISION_FCL_FCLCOLLISIONGROUP_HPP_