115 lines
3.4 KiB
C++
115 lines
3.4 KiB
C++
/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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/* Desc: Collision class
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* Author: Nate Koenig
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* Date: 13 Feb 2006
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*/
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#ifndef _BULLET_COLLISION_HH_
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#define _BULLET_COLLISION_HH_
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#include <string>
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/*
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#include "gazebo/common/Param.hh"
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#include "Entity.hh"
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#include "gazebo/math/Pose.hh"
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#include "gazebo/math/Vector3.hh"
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#include "gazebo/physics/Collision.hh"
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#include "gazebo/util/system.hh"
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*/
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#include "gazebo/physics/bullet/BulletTypes.hh"
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#include "gazebo/physics/PhysicsTypes.hh"
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#include "gazebo/physics/Collision.hh"
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#include "gazebo/util/system.hh"
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class btCollisionShape;
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namespace gazebo
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{
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namespace physics
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{
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/// \ingroup gazebo_physics
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/// \addtogroup gazebo_physics_bullet Bullet Physics
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/// \{
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/// \brief Bullet collisions
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class GZ_PHYSICS_VISIBLE BulletCollision : public Collision
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{
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/// \brief Constructor
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public: BulletCollision(LinkPtr _parent);
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/// \brief Destructor
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public: virtual ~BulletCollision();
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/// \brief Load the collision
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public: virtual void Load(sdf::ElementPtr _ptr);
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/// \brief On pose change
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public: virtual void OnPoseChange();
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/// \brief Set the category bits, used during collision detection
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/// \param bits The bits
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public: virtual void SetCategoryBits(unsigned int _bits);
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/// \brief Set the collide bits, used during collision detection
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/// \param bits The bits
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public: virtual void SetCollideBits(unsigned int _bits);
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/// \brief Get the category bits, used during collision detection
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/// \return The bits
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public: virtual unsigned int GetCategoryBits() const;
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/// \brief Get the collide bits, used during collision detection
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/// \return The bits
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public: virtual unsigned int GetCollideBits() const;
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/// \brief Get the bounding box, defined by the physics engine
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public: virtual math::Box GetBoundingBox() const;
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/// \brief Set the collision shape
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/// \param[in] _shape Collision shape
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/// \param[in] _placeable True to make the object movable.
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public: void SetCollisionShape(btCollisionShape *_shape,
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bool _placeable = true);
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/// \brief Get the bullet collision shape
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public: btCollisionShape *GetCollisionShape() const;
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/// \brief Set the index of the compound shape
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public: void SetCompoundShapeIndex(int _index);
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/// \brief Similar to Collision::GetSurface, but provides dynamically
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/// casted pointer to BulletSurfaceParams.
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/// \return Dynamically casted pointer to BulletSurfaceParams.
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public: BulletSurfaceParamsPtr GetBulletSurface() const;
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protected: btCollisionShape *collisionShape;
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/// \brief Category bits for collision detection
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private: unsigned int categoryBits;
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/// \brief Collide bits for collision detection
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private: unsigned int collideBits;
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};
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/// \}
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}
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}
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#endif
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