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PhysicsTypes.hh
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1 /*
2  * Copyright 2012 Nate Koenig
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 #ifndef _PHYSICSTYPES_HH_
18 #define _PHYSICSTYPES_HH_
19 
20 #include <vector>
21 #include <boost/shared_ptr.hpp>
22 
26 namespace gazebo
27 {
29  namespace physics
30  {
31  class Base;
32  class Entity;
33  class World;
34  class Model;
35  class Actor;
36  class Link;
37  class Collision;
38  class Joint;
39  class Contact;
40  class PhysicsEngine;
41  class Mass;
42  class Road;
43  class Shape;
44  class RayShape;
45  class MultiRayShape;
46  class Inertial;
47  class SurfaceParams;
48  class BoxShape;
49  class CylinderShape;
50  class SphereShape;
51  class MeshShape;
52  class HeightmapShape;
53 
56  typedef boost::shared_ptr<Base> BasePtr;
57 
60  typedef boost::shared_ptr<Contact> ContactPtr;
61 
64  typedef boost::shared_ptr<Entity> EntityPtr;
65 
68  typedef boost::shared_ptr<World> WorldPtr;
69 
72  typedef boost::shared_ptr<Model> ModelPtr;
73 
76  typedef boost::shared_ptr<Actor> ActorPtr;
77 
80  typedef boost::shared_ptr<Link> LinkPtr;
81 
84  typedef boost::shared_ptr<Collision> CollisionPtr;
85 
88  typedef boost::shared_ptr<Joint> JointPtr;
89 
92  typedef boost::shared_ptr<PhysicsEngine> PhysicsEnginePtr;
93 
96  typedef boost::shared_ptr<Shape> ShapePtr;
97 
100  typedef boost::shared_ptr<RayShape> RayShapePtr;
101 
104  typedef boost::shared_ptr<HeightmapShape> HeightmapShapePtr;
105 
108  typedef boost::shared_ptr<MultiRayShape> MultiRayShapePtr;
109 
112  typedef boost::shared_ptr<Inertial> InertialPtr;
113 
116  typedef boost::shared_ptr<Road> RoadPtr;
117 
120  typedef boost::shared_ptr<SurfaceParams> SurfaceParamsPtr;
121 
124  typedef boost::shared_ptr<BoxShape> BoxShapePtr;
125 
128  typedef boost::shared_ptr<CylinderShape> CylinderShapePtr;
129 
132  typedef boost::shared_ptr<SphereShape> SphereShapePtr;
133 
136  typedef boost::shared_ptr<MeshShape> MeshShapePtr;
137 
140  typedef std::vector<BasePtr> Base_V;
141 
144  typedef std::vector<ModelPtr> Model_V;
145 
148  typedef std::vector<ActorPtr> Actor_V;
149 
152  typedef std::vector<JointPtr> Joint_V;
153 
156  typedef std::vector<LinkPtr> Link_V;
157 
160  typedef std::vector<CollisionPtr> Collision_V;
161 
162  #ifndef GZ_COLLIDE_BITS
163 
167  #define GZ_ALL_COLLIDE 0x0FFFFFFF
168 
171  #define GZ_NONE_COLLIDE 0x00000000
172 
175  #define GZ_FIXED_COLLIDE 0x00000001
176 
179  #define GZ_SENSOR_COLLIDE 0x00000003
180 
183  #define GZ_GHOST_COLLIDE 0x10000000
184 
185  #endif
186  }
187 }
188 #endif