DART 6.7.3
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CollisionObject.hpp
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1/*
2 * Copyright (c) 2011-2019, The DART development contributors
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10 * without modification, are permitted provided that the following
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31 */
32
33#ifndef DART_COLLISION_COLLISIONOBJECT_HPP_
34#define DART_COLLISION_COLLISIONOBJECT_HPP_
35
36#include <Eigen/Dense>
37
40
41namespace dart {
42namespace collision {
43
45{
46public:
47
48 friend class CollisionGroup;
49
51 virtual ~CollisionObject() = default;
52
55
58
61
64
66 const Eigen::Isometry3d& getTransform() const;
67
68protected:
69
71 CollisionObject(CollisionDetector* collisionDetector,
72 const dynamics::ShapeFrame* shapeFrame);
73
77 virtual void updateEngineData() = 0;
78
79protected:
80
83
86
87};
88
89} // namespace collision
90} // namespace dart
91
92#endif // DART_COLLISION_COLLISIONOBJECT_HPP_
Definition CollisionDetector.hpp:56
Definition CollisionGroup.hpp:51
Definition CollisionObject.hpp:45
CollisionDetector * mCollisionDetector
Collision detector.
Definition CollisionObject.hpp:82
CollisionDetector * getCollisionDetector()
Return collision detection engine associated with this CollisionObject.
Definition CollisionObject.cpp:42
virtual ~CollisionObject()=default
Destructor.
dynamics::ConstShapePtr getShape() const
Return the associated Shape.
Definition CollisionObject.cpp:60
const dynamics::ShapeFrame * mShapeFrame
ShapeFrame.
Definition CollisionObject.hpp:85
const dynamics::ShapeFrame * getShapeFrame() const
Return the associated ShapeFrame.
Definition CollisionObject.cpp:54
virtual void updateEngineData()=0
Update the collision object of the collision detection engine.
const Eigen::Isometry3d & getTransform() const
Return the transformation of this CollisionObject in world coordinates.
Definition CollisionObject.cpp:66
Definition ShapeFrame.hpp:164
std::shared_ptr< const Shape > ConstShapePtr
Definition SmartPointer.hpp:81
Definition BulletCollisionDetector.cpp:63