OdeCollisionGroup.hpp

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#ifndef DART_COLLISION_ODE_ODECOLLISIONGROUP_HPP_
#define DART_COLLISION_ODE_ODECOLLISIONGROUP_HPP_
 
#include <ode/ode.h>
 
#include "dart/collision/CollisionGroup.hpp"
 
namespace dart {
namespace collision {
 
class OdeCollisionGroup : public CollisionGroup
{
public:
  friend class OdeCollisionDetector;
 
  OdeCollisionGroup(const CollisionDetectorPtr& collisionDetector);
 
  virtual ~OdeCollisionGroup();
 
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;
 
  dSpaceID getOdeSpaceId() const;
 
protected:
  dSpaceID mSpaceId;
};
 
}  // namespace collision
}  // namespace dart
 
#endif  // DART_COLLISION_ODE_ODECOLLISIONGROUP_HPP_