DART  6.7.3
FCLCollisionGroup.hpp
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32 
33 #ifndef DART_COLLISION_FCL_FCLCOLLISIONGROUP_HPP_
34 #define DART_COLLISION_FCL_FCLCOLLISIONGROUP_HPP_
35 
38 
39 namespace dart {
40 namespace collision {
41 
42 class CollisionObject;
43 class FCLCollisionObjectUserData;
44 
46 {
47 public:
48 
49  friend class FCLCollisionDetector;
50 
52 
54  FCLCollisionGroup(const CollisionDetectorPtr& collisionDetector);
55 
57  virtual ~FCLCollisionGroup() = default;
58 
59 protected:
60 
62 
63  // Documentation inherited
64  void initializeEngineData() override;
65 
66  // Documentation inherited
67  void addCollisionObjectToEngine(CollisionObject* object) override;
68 
69  // Documentation inherited
71  const std::vector<CollisionObject*>& collObjects) override;
72 
73  // Documentation inherited
74  void removeCollisionObjectFromEngine(CollisionObject* object) override;
75 
76  // Documentation inherited
78 
79  // Documentation inherited
80  void updateCollisionGroupEngineData() override;
81 
84 
87 
88 protected:
89 
91  std::unique_ptr<FCLCollisionManager> mBroadPhaseAlg;
92 
93 };
94 
95 } // namespace collision
96 } // namespace dart
97 
98 #endif // DART_COLLISION_FCL_FCLCOLLISIONGROUP_HPP_
Definition: CollisionGroup.hpp:51
void updateEngineData()
Update engine data.
Definition: CollisionGroup.cpp:289
Definition: CollisionObject.hpp:45
Definition: FCLCollisionDetector.hpp:46
Definition: FCLCollisionGroup.hpp:46
void removeAllCollisionObjectsFromEngine() override
Remove all the CollisionObjects from the collision detection engine.
Definition: FCLCollisionGroup.cpp:90
void addCollisionObjectToEngine(CollisionObject *object) override
Add CollisionObject to the collision detection engine.
Definition: FCLCollisionGroup.cpp:57
void initializeEngineData() override
Initialize the collision detection engine data such as broadphase algorithm.
Definition: FCLCollisionGroup.cpp:51
void addCollisionObjectsToEngine(const std::vector< CollisionObject * > &collObjects) override
Add CollisionObjects to the collision detection engine.
Definition: FCLCollisionGroup.cpp:66
virtual ~FCLCollisionGroup()=default
Destructor.
std::unique_ptr< FCLCollisionManager > mBroadPhaseAlg
FCL broad-phase algorithm.
Definition: FCLCollisionGroup.hpp:91
FCLCollisionManager * getFCLCollisionManager()
Return FCL collision manager that is also a broad-phase algorithm.
Definition: FCLCollisionGroup.cpp:105
dart::collision::fcl::DynamicAABBTreeCollisionManager FCLCollisionManager
Definition: FCLCollisionGroup.hpp:51
void updateCollisionGroupEngineData() override
Update the collision detection engine data such as broadphase algorithm.
Definition: FCLCollisionGroup.cpp:98
void removeCollisionObjectFromEngine(CollisionObject *object) override
Remove CollisionObject from the collision detection engine.
Definition: FCLCollisionGroup.cpp:80
FCLCollisionGroup(const CollisionDetectorPtr &collisionDetector)
Constructor.
Definition: FCLCollisionGroup.cpp:42
::fcl::CollisionObject CollisionObject
Definition: BackwardCompatibility.hpp:152
::fcl::DynamicAABBTreeCollisionManager DynamicAABBTreeCollisionManager
Definition: BackwardCompatibility.hpp:154
std::shared_ptr< CollisionDetector > CollisionDetectorPtr
Definition: SmartPointer.hpp:41
Definition: BulletCollisionDetector.cpp:63