BulletCollision.hh

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/*
 * Copyright 2011 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.
 *
*/
/* Desc: Collision class
 * Author: Nate Koenig
 * Date: 13 Feb 2006
 */

#ifndef _BULLET_COLLISION_HH_
#define _BULLET_COLLISION_HH_

#include <string>

/*

#include "common/Param.hh"
#include "Entity.hh"
#include "math/Pose.hh"
#include "math/Vector3.hh"
#include "physics/Collision.hh"
*/

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

class btCollisionShape;

namespace gazebo
{
  namespace physics
  {

    class BulletCollision : public Collision
    {
      public: 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 math::Box GetBoundingBox() const;

      public: void SetCollisionShape(btCollisionShape *shape);

      public: btCollisionShape *GetCollisionShape() const;

      public: void SetCompoundShapeIndex(int index);

      protected: btCollisionShape *collisionShape;
    };
  }
}
#endif