BulletCollision.hh

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/*
 * Copyright (C) 2012 Open Source Robotics Foundation
 *
 * 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.
 *
*/
/* Desc: Collision class
 * Author: Nate Koenig
 * Date: 13 Feb 2006
 */

#ifndef GAZEBO_PHYSICS_BULLET_BULLETCOLLISION_HH_
#define GAZEBO_PHYSICS_BULLET_BULLETCOLLISION_HH_

#include <string>

#include "gazebo/physics/bullet/BulletTypes.hh"
#include "gazebo/physics/PhysicsTypes.hh"
#include "gazebo/physics/Collision.hh"
#include "gazebo/util/system.hh"

class btCollisionShape;

namespace gazebo
{
  namespace physics
  {

    class GZ_PHYSICS_VISIBLE BulletCollision : public Collision
    {
      public: explicit BulletCollision(LinkPtr _parent);

      public: virtual ~BulletCollision();

      public: virtual void Load(sdf::ElementPtr _ptr);

      public: virtual void OnPoseChange();

      public: virtual void SetCategoryBits(unsigned int _bits);

      public: virtual void SetCollideBits(unsigned int _bits);

      public: virtual unsigned int GetCategoryBits() const;

      public: virtual unsigned int GetCollideBits() const;

      // Documentation inherited
      public: virtual ignition::math::AxisAlignedBox BoundingBox() const;

      public: void SetCollisionShape(btCollisionShape *_shape,
          bool _placeable = true);

      public: btCollisionShape *GetCollisionShape() const;

      public: void SetCompoundShapeIndex(int _index);

      public: BulletSurfaceParamsPtr GetBulletSurface() const;

      protected: btCollisionShape *collisionShape;

      private: unsigned int categoryBits;

      private: unsigned int collideBits;
    };
  }
}
#endif