ContactManager.hh

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/*
 * Copyright 2012 Nate Koenig
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#ifndef _CONTACTMANAGER_HH_
#define _CONTACTMANAGER_HH_

#include <vector>

#include "gazebo/transport/TransportTypes.hh"

#include "gazebo/physics/PhysicsTypes.hh"
#include "gazebo/physics/Contact.hh"

namespace gazebo
{
  namespace physics
  {

    class ContactManager
    {
      public: ContactManager();

      public: virtual ~ContactManager();

      public: void Init(WorldPtr _world);

      public: Contact *NewContact(Collision *_collision1,
                                  Collision *_collision2,
                                  const common::Time &_time);

      public: unsigned int GetContactCount() const;

      public: Contact *GetContact(unsigned int _index) const;

      public: const std::vector<Contact*> &GetContacts() const;

      public: void Clear();

      public: void PublishContacts();

      public: void ResetCount();

      private: std::vector<Contact*> contacts;

      private: unsigned int contactIndex;

      private: transport::NodePtr node;

      private: transport::PublisherPtr contactPub;

      private: WorldPtr world;
    };
  }
}
#endif