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SimbodyCollision.hh
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1 /*
2  * Copyright (C) 2012-2014 Open Source Robotics Foundation
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 
18 #ifndef _SIMBODY_COLLISION_HH_
19 #define _SIMBODY_COLLISION_HH_
20 
21 #include <string>
22 
25 
26 namespace SimTK
27 {
28  class ContactGeometry;
29 }
30 
31 namespace gazebo
32 {
33  namespace physics
34  {
38 
40  class SimbodyCollision : public Collision
41  {
43  public: SimbodyCollision(LinkPtr _parent);
44 
46  public: virtual ~SimbodyCollision();
47 
48  // Documentation inherited
49  public: virtual void Load(sdf::ElementPtr _ptr);
50 
51  // Documentation inherited
52  public: virtual void OnPoseChange();
53 
54  // Documentation inherited
55  public: virtual void SetCategoryBits(unsigned int _bits);
56 
57  // Documentation inherited
58  public: virtual void SetCollideBits(unsigned int _bits);
59 
60  // Documentation inherited
61  public: virtual math::Box GetBoundingBox() const;
62 
66  public: void SetCollisionShape(SimTK::ContactGeometry *_shape);
67 
70  public: SimTK::ContactGeometry *GetCollisionShape() const;
71 
73  private: SimTK::ContactGeometry *collisionShape;
74  };
76  }
77 }
78 #endif