OdeGeom.hpp

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#ifndef DART_COLLISION_ODE_DETAIL_ODEGEOM_HPP_
#define DART_COLLISION_ODE_DETAIL_ODEGEOM_HPP_
 
#include <ode/ode.h>
 
#include "dart/collision/ode/OdeCollisionObject.hpp"
#include "dart/collision/ode/OdeCollisionDetector.hpp"
 
namespace dart {
namespace collision {
namespace detail {
 
class OdeGeom
{
public:
  struct GeomUserData;
 
  OdeGeom(const OdeCollisionObject* collObj);
 
  virtual ~OdeGeom();
 
  const OdeCollisionObject* getParentCollisionObject() const;
 
  // Documentation inherited.
  virtual void updateEngineData();
 
  dGeomID getOdeGeomId() const;
 
  virtual bool isPlaceable() const;
 
protected:
  const OdeCollisionObject* mParentCollisionObject;
 
  dGeomID mGeomId;
};
 
} // namespace detail
} // namespace collision
} // namespace dart
 
#endif  // DART_COLLISION_ODE_DETAIL_ODEGEOM_HPP_