OdeCollisionObject.hpp

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#ifndef DART_COLLISION_ODE_ODECOLLISIONOBJECT_HPP_
#define DART_COLLISION_ODE_ODECOLLISIONOBJECT_HPP_
 
#include <ode/ode.h>
 
#include "dart/collision/CollisionObject.hpp"
#include "dart/collision/ode/OdeCollisionDetector.hpp"
 
namespace dart {
namespace collision {
 
namespace detail {
class OdeGeom;
} // namespace detail
 
class OdeCollisionObject : public CollisionObject
{
public:
  friend class OdeCollisionDetector;
  friend class OdeCollisionGroup;
 
  virtual ~OdeCollisionObject();
 
protected:
  OdeCollisionObject(
      OdeCollisionDetector* collisionDetector,
      const dynamics::ShapeFrame* shapeFrame);
 
  // Documentation inherited
  void updateEngineData() override;
 
  dBodyID getOdeBodyId() const;
 
  dGeomID getOdeGeomId() const;
 
protected:
  std::unique_ptr<detail::OdeGeom> mOdeGeom;
 
  dBodyID mBodyId;
};
 
} // namespace collision
} // namespace dart
 
#endif  // DART_COLLISION_ODE_ODECOLLISIONOBJECT_HPP_