80 lines
2.2 KiB
C++
80 lines
2.2 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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#ifndef _SIMBODY_COLLISION_HH_
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#define _SIMBODY_COLLISION_HH_
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#include <string>
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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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namespace SimTK
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{
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class ContactGeometry;
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}
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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_simbody Simbody Physics
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/// \{
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/// \brief Simbody collisions
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class GZ_PHYSICS_VISIBLE SimbodyCollision : public Collision
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{
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/// \brief Constructor
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public: SimbodyCollision(LinkPtr _parent);
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/// \brief Destructor
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public: virtual ~SimbodyCollision();
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// Documentation inherited
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public: virtual void Load(sdf::ElementPtr _ptr);
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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 Set the collision shape.
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/// \param[in] _shape SimTK geometry to use as the collision
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/// SimTK geometry to use as the collision shape.
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public: void SetCollisionShape(SimTK::ContactGeometry *_shape);
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/// \brief Get the simbody collision shape.
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/// \return SimTK geometry used as the collision shape.
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public: SimTK::ContactGeometry *GetCollisionShape() const;
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/// \brief The SimTK collision geometry.
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private: SimTK::ContactGeometry *collisionShape;
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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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