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18 #ifndef GAZEBO_PHYSICS_DART_DARTCOLLISION_HH_
19 #define GAZEBO_PHYSICS_DART_DARTCOLLISION_HH_
32 class DARTCollisionPrivate;
48 public:
virtual void Load(sdf::ElementPtr _sdf);
51 public:
virtual void Init();
54 public:
virtual void Fini();
57 public:
virtual void OnPoseChange();
60 public:
virtual void SetCategoryBits(
unsigned int _bits);
63 public:
virtual void SetCollideBits(
unsigned int _bits);
67 public:
virtual unsigned int GetCategoryBits()
const;
71 public:
virtual unsigned int GetCollideBits()
const;
74 public:
virtual ignition::math::AxisAlignedBox BoundingBox()
const;
78 public: dart::dynamics::BodyNode *DARTBodyNode()
const;
83 public:
void SetDARTCollisionShapeNode(
84 dart::dynamics::ShapeNodePtr _shape,
85 const bool _placeable =
true);
89 public: dart::dynamics::ShapeNodePtr DARTCollisionShapeNode()
const;
99 private: DARTCollisionPrivate *dataPtr;
virtual void Init()
Initialize the collision.
DART wrapper forward declarations and typedefs.
Base class for all collision entities.
Definition: Collision.hh:38
Forward declarations for the common classes.
Definition: Animation.hh:26
virtual ignition::math::AxisAlignedBox BoundingBox() const
Get the bounding box for this collision.
virtual unsigned int GetCollideBits() const
Get the collide bits, used during collision detection.
virtual ~DARTCollision()
Destructor.
DARTCollision(LinkPtr _parent)
Constructor.
default namespace for gazebo
virtual void Fini()
Finalize the collision.
virtual unsigned int GetCategoryBits() const
Get the category bits, used during collision detection.
Base class for all DART collisions.
Definition: DARTCollision.hh:38
void SetDARTCollisionShapeNode(dart::dynamics::ShapeNodePtr _shape, const bool _placeable=true)
Set DART collision shape.
boost::shared_ptr< DARTSurfaceParams > DARTSurfaceParamsPtr
Definition: DARTTypes.hh:51
virtual void Load(sdf::ElementPtr _sdf)
Load the collision.
dart::dynamics::ShapeNodePtr DARTCollisionShapeNode() const
Get DART collision shape node.
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:110
virtual void OnPoseChange()
This function is called when the entity's (or one of its parents) pose of the parent has changed.
DARTSurfaceParamsPtr DARTSurface() const
Similar to Collision::GetSurface, but provides dynamically casted pointer to DARTSurfaceParams.
virtual void SetCollideBits(unsigned int _bits)
Set the collide bits, used during collision detection.
virtual void SetCategoryBits(unsigned int _bits)
Set the category bits, used during collision detection.
dart::dynamics::BodyNode * DARTBodyNode() const
Get DART body node.