DARTCollision.hh

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/*
 * Copyright 2014 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.
 *
*/

#ifndef _GAZEBO_DARTCOLLISION_HH_
#define _GAZEBO_DARTCOLLISION_HH_

#include "gazebo/common/CommonTypes.hh"

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

#include "gazebo/physics/dart/dart_inc.h"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace physics
  {
    class GAZEBO_VISIBLE DARTCollision : public Collision
    {
      public: explicit DARTCollision(LinkPtr _parent);

      public: virtual ~DARTCollision();

      // Documentation inherited.
      public: virtual void Load(sdf::ElementPtr _sdf);

      // Documentation inherited.
      public: virtual void Init();

      // Documentation inherited.
      public: virtual void Fini();

      // Documentation inherited.
      public: virtual void OnPoseChange();

      // Documentation inherited.
      public: virtual void SetCategoryBits(unsigned int _bits);

      // Documentation inherited.
      public: virtual void SetCollideBits(unsigned int _bits);

      public: virtual unsigned int GetCategoryBits() const;

      public: virtual unsigned int GetCollideBits() const;

      // Documentation inherited.
      public: virtual math::Box GetBoundingBox() const;

      public: dart::dynamics::BodyNode *GetDARTBodyNode() const;

      public: void SetDARTCollisionShape(dart::dynamics::Shape *_shape,
                                         bool _placeable = true);

      public: dart::dynamics::Shape* GetDARTCollisionShape() const;

      private: dart::dynamics::BodyNode *dtBodyNode;

      private: dart::dynamics::Shape *dtCollisionShape;

      private: unsigned int categoryBits;

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