117 lines
3.5 KiB
C++
117 lines
3.5 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 _ODECOLLISION_HH_
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#define _ODECOLLISION_HH_
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#include "ode/ode.h"
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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/ode/ODETypes.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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/// \addtogroup gazebo_physics_ode
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/// \{
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/// \brief Base class for all ODE collisions.
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class GZ_PHYSICS_VISIBLE ODECollision : 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 ODECollision(LinkPtr _parent);
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/// \brief Destructor.
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public: virtual ~ODECollision();
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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 Fini();
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/// \brief Set the encapsulated collsion object.
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/// \param[in] _collisionId ODE id of the collision object.
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/// \param[in] _placeable True to make the object movable.
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public: void SetCollision(dGeomID _collisionId, bool _placeable);
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/// \brief Return the collision id.
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/// \return The collision id.
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public: dGeomID GetCollisionId() const;
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/// \brief Get the ODE collision class.
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/// \return The ODE collision class.
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public: int GetCollisionClass() const;
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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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// Documentation inherited.
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public: virtual math::Box GetBoundingBox() const;
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/// \brief Get the collision's space ID
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/// \return The collision's space ID
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public: dSpaceID GetSpaceId() const;
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/// \brief Set the collision's space ID
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/// \param[in] _spaceid ID of an ODE collision space.
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public: void SetSpaceId(dSpaceID _spaceid);
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/// \brief Similar to Collision::GetSurface, but provides dynamically
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/// casted pointer to ODESurfaceParams.
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/// \return Dynamically casted pointer to ODESurfaceParams.
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public: ODESurfaceParamsPtr GetODESurface() const;
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/// \brief Used when this is static to set the posse.
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private: void OnPoseChangeGlobal();
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/// \brief Used when this is not statis to set the posse.
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private: void OnPoseChangeRelative();
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/// \brief Empty pose change callback.
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private: void OnPoseChangeNull();
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/// \brief Collision space for this.
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protected: dSpaceID spaceId;
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/// \brief ID for the collision.
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protected: dGeomID collisionId;
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/// \brief Function used to set the pose of the ODE object.
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private: void (ODECollision::*onPoseChangeFunc)();
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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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