BulletCollisionObject.hpp

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#ifndef DART_COLLISION_BULLET_BULLETCOLLISIONOBJECT_HPP_
#define DART_COLLISION_BULLET_BULLETCOLLISIONOBJECT_HPP_
 
// Must be included before any Bullet headers.
#include "dart/config.hpp"
 
#include <btBulletCollisionCommon.h>
 
#include "dart/collision/CollisionObject.hpp"
#include "dart/collision/bullet/BulletCollisionShape.hpp"
 
namespace dart {
namespace collision {
 
class CollisionObject;
 
class BulletCollisionObject : public CollisionObject
{
public:
  friend class BulletCollisionDetector;
 
  btCollisionObject* getBulletCollisionObject();
 
  const btCollisionObject* getBulletCollisionObject() const;
 
protected:
  BulletCollisionObject(
      CollisionDetector* collisionDetector,
      const dynamics::ShapeFrame* shapeFrame,
      const std::shared_ptr<BulletCollisionShape>& bulletCollisionShape);
 
  // Documentation inherited
  void updateEngineData() override;
 
protected:
  std::shared_ptr<BulletCollisionShape> mBulletCollisionShape;
  std::unique_ptr<btCollisionObject> mBulletCollisionObject;
};
 
}  // namespace collision
}  // namespace dart
 
#endif  // DART_COLLISION_BULLET_BULLETCOLLISIONOBJECT_HPP_