103 lines
3.2 KiB
C++
103 lines
3.2 KiB
C++
/*
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* Copyright (C) 2014 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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#ifndef _GAZEBO_DARTCOLLISION_HH_
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#define _GAZEBO_DARTCOLLISION_HH_
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#include "gazebo/common/CommonTypes.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/physics/dart/dart_inc.h"
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#include "gazebo/physics/dart/DARTTypes.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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namespace physics
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{
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/// Forward declare private data class
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class DARTCollisionPrivate;
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/// \addtogroup gazebo_physics_dart
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/// \{
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/// \brief Base class for all DART collisions.
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class GZ_PHYSICS_VISIBLE DARTCollision : public Collision
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{
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/// \brief Constructor.
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/// \param[in] _link Parent Link
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public: explicit DARTCollision(LinkPtr _parent);
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/// \brief Destructor.
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public: virtual ~DARTCollision();
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// Documentation inherited.
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public: virtual void Load(sdf::ElementPtr _sdf);
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// Documentation inherited.
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public: virtual void Init();
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// Documentation inherited.
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public: virtual void Fini();
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// Documentation inherited.
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public: virtual void OnPoseChange();
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// Documentation inherited.
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public: virtual void SetCategoryBits(unsigned int _bits);
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// Documentation inherited.
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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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// Documentation inherited.
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public: virtual math::Box GetBoundingBox() const;
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/// \brief Get DART body node.
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/// \return Pointer to the dart BodyNode.
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public: dart::dynamics::BodyNode *GetDARTBodyNode() const;
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/// \brief Set DART collision shape.
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/// \param[in] _shape DART Collision shape
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/// \param[in] _placeable True to make the object movable.
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public: void SetDARTCollisionShape(dart::dynamics::Shape *_shape,
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bool _placeable = true);
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/// \brief Get DART collision shape.
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public: dart::dynamics::Shape *GetDARTCollisionShape() const;
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/// \brief Similar to Collision::GetSurface, but provides dynamically
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/// casted pointer to DARTSurfaceParams.
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/// \return Dynamically casted pointer to DARTSurfaceParams.
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public: DARTSurfaceParamsPtr GetDARTSurface() const;
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/// \internal
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/// \brief Pointer to private data
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private: DARTCollisionPrivate *dataPtr;
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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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