DART  6.6.2
OdeCollisionObject.hpp
Go to the documentation of this file.
1 /*
2  * Copyright (c) 2011-2018, The DART development contributors
3  * All rights reserved.
4  *
5  * The list of contributors can be found at:
6  * https://github.com/dartsim/dart/blob/master/LICENSE
7  *
8  * This file is provided under the following "BSD-style" License:
9  * Redistribution and use in source and binary forms, with or
10  * without modification, are permitted provided that the following
11  * conditions are met:
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
19  * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
20  * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
21  * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
22  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
23  * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
24  * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
25  * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
26  * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
27  * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
28  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
29  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
30  * POSSIBILITY OF SUCH DAMAGE.
31  */
32 
33 #ifndef DART_COLLISION_ODE_ODECOLLISIONOBJECT_HPP_
34 #define DART_COLLISION_ODE_ODECOLLISIONOBJECT_HPP_
35 
36 #include <ode/ode.h>
37 
40 
41 namespace dart {
42 namespace collision {
43 
44 namespace detail {
45 class OdeGeom;
46 } // namespace detail
47 
49 {
50 public:
51  friend class OdeCollisionDetector;
52  friend class OdeCollisionGroup;
53 
55  virtual ~OdeCollisionObject();
56 
57 protected:
60  OdeCollisionDetector* collisionDetector,
61  const dynamics::ShapeFrame* shapeFrame);
62 
63  // Documentation inherited
64  void updateEngineData() override;
65 
67  dBodyID getOdeBodyId() const;
68 
70  dGeomID getOdeGeomId() const;
71 
72 protected:
74  std::unique_ptr<detail::OdeGeom> mOdeGeom;
75 
79  dBodyID mBodyId;
80 };
81 
82 } // namespace collision
83 } // namespace dart
84 
85 #endif // DART_COLLISION_ODE_ODECOLLISIONOBJECT_HPP_
Definition: CollisionObject.hpp:45
OdeCollisionDetector wraps the ODE collision detector.
Definition: OdeCollisionDetector.hpp:53
Definition: OdeCollisionGroup.hpp:44
Definition: OdeCollisionObject.hpp:49
void updateEngineData() override
Update the collision object of the collision detection engine.
Definition: OdeCollisionObject.cpp:111
std::unique_ptr< detail::OdeGeom > mOdeGeom
ODE geom.
Definition: OdeCollisionObject.hpp:74
dBodyID mBodyId
ODE body id associated with this object.
Definition: OdeCollisionObject.hpp:79
OdeCollisionObject(OdeCollisionDetector *collisionDetector, const dynamics::ShapeFrame *shapeFrame)
Constructor.
Definition: OdeCollisionObject.cpp:72
dBodyID getOdeBodyId() const
Returns the ODE body id associated to this object.
Definition: OdeCollisionObject.cpp:137
virtual ~OdeCollisionObject()
Destructor.
Definition: OdeCollisionObject.cpp:65
dGeomID getOdeGeomId() const
Returns the ODE body id associated to this object.
Definition: OdeCollisionObject.cpp:143
Definition: ShapeFrame.hpp:164
Definition: BulletCollisionDetector.cpp:63