22 #ifndef _CONTACTSENSOR_HH_
23 #define _CONTACTSENSOR_HH_
59 public:
virtual void Load(
const std::string &_worldName,
64 public:
virtual void Load(
const std::string &_worldName);
67 public:
virtual void Init();
71 protected:
virtual void UpdateImpl(
bool _force);
74 protected:
virtual void Fini();
89 const std::string &_collisionName)
const;
93 const std::string &_collisionName,
unsigned int _index)
const
104 public: std::map<std::string, physics::Contact>
GetContacts(
105 const std::string &_collisionName);
111 private:
void OnContacts(ConstContactsPtr &_msg);
114 private: std::vector<std::string> collisions;
123 private: boost::mutex mutex;
126 private: msgs::Contacts contactsMsg;
128 typedef std::list<boost::shared_ptr<msgs::Contacts const> > ContactMsgs_L;
129 private: ContactMsgs_L incomingContacts;