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22 #ifndef GAZEBO_PHYSICS_BULLET_BULLETCOLLISION_HH_
23 #define GAZEBO_PHYSICS_BULLET_BULLETCOLLISION_HH_
32 class btCollisionShape;
52 public:
virtual void Load(sdf::ElementPtr _ptr);
55 public:
virtual void OnPoseChange();
59 public:
virtual void SetCategoryBits(
unsigned int _bits);
63 public:
virtual void SetCollideBits(
unsigned int _bits);
67 public:
virtual unsigned int GetCategoryBits()
const;
71 public:
virtual unsigned int GetCollideBits()
const;
74 public:
virtual ignition::math::AxisAlignedBox BoundingBox()
const;
79 public:
void SetCollisionShape(btCollisionShape *_shape,
80 bool _placeable =
true);
83 public: btCollisionShape *GetCollisionShape()
const;
86 public:
void SetCompoundShapeIndex(
int _index);
96 private:
unsigned int categoryBits;
99 private:
unsigned int collideBits;
btCollisionShape * collisionShape
Definition: BulletCollision.hh:93
virtual ignition::math::AxisAlignedBox BoundingBox() const
Get the bounding box for this collision.
virtual void Load(sdf::ElementPtr _ptr)
Load the collision.
Base class for all collision entities.
Definition: Collision.hh:38
Forward declarations for the common classes.
Definition: Animation.hh:26
Bullet wrapper forward declarations and typedefs.
Bullet collisions.
Definition: BulletCollision.hh:43
default namespace for gazebo
void SetCompoundShapeIndex(int _index)
Set the index of the compound shape.
virtual ~BulletCollision()
Destructor.
BulletCollision(LinkPtr _parent)
Constructor.
virtual unsigned int GetCategoryBits() const
Get the category bits, used during collision detection.
boost::shared_ptr< BulletSurfaceParams > BulletSurfaceParamsPtr
Definition: BulletTypes.hh:46
virtual void OnPoseChange()
On pose change.
virtual unsigned int GetCollideBits() const
Get the collide bits, used during collision detection.
virtual void SetCategoryBits(unsigned int _bits)
Set the category bits, used during collision detection.
void SetCollisionShape(btCollisionShape *_shape, bool _placeable=true)
Set the collision shape.
btCollisionShape * GetCollisionShape() const
Get the bullet collision shape.
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:110
virtual void SetCollideBits(unsigned int _bits)
Set the collide bits, used during collision detection.
BulletSurfaceParamsPtr GetBulletSurface() const
Similar to Collision::GetSurface, but provides dynamically casted pointer to BulletSurfaceParams.