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22 #ifndef _ODECOLLISION_HH_
23 #define _ODECOLLISION_HH_
50 public:
virtual void Load(sdf::ElementPtr _sdf);
53 public:
virtual void Fini();
58 public:
void SetCollision(dGeomID _collisionId,
bool _placeable);
62 public: dGeomID GetCollisionId()
const;
66 public:
int GetCollisionClass()
const;
69 public:
virtual void OnPoseChange();
72 public:
virtual void SetCategoryBits(
unsigned int bits);
75 public:
virtual void SetCollideBits(
unsigned int bits);
78 public:
virtual ignition::math::Box BoundingBox()
const;
82 public: dSpaceID GetSpaceId()
const;
86 public:
void SetSpaceId(dSpaceID _spaceid);
94 private:
void OnPoseChangeGlobal();
97 private:
void OnPoseChangeRelative();
100 private:
void OnPoseChangeNull();
dSpaceID spaceId
Collision space for this.
Definition: ODECollision.hh:103
Base class for all collision entities.
Definition: Collision.hh:38
Forward declarations for the common classes.
Definition: Animation.hh:26
virtual ~ODECollision()
Destructor.
dGeomID collisionId
ID for the collision.
Definition: ODECollision.hh:106
boost::shared_ptr< ODESurfaceParams > ODESurfaceParamsPtr
Definition: ODETypes.hh:55
void SetCollision(dGeomID _collisionId, bool _placeable)
Set the encapsulated collision object.
Base class for all ODE collisions.
Definition: ODECollision.hh:40
default namespace for gazebo
virtual void SetCollideBits(unsigned int bits)
Set the collide bits, used during collision detection.
virtual void SetCategoryBits(unsigned int bits)
Set the category bits, used during collision detection.
virtual ignition::math::Box BoundingBox() const
Get the bounding box for this collision.
int GetCollisionClass() const
Get the ODE collision class.
dGeomID GetCollisionId() const
Return the collision id.
virtual void OnPoseChange()
This function is called when the entity's (or one of its parents) pose of the parent has changed.
ODE wrapper forward declarations and typedefs.
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:109
virtual void Load(sdf::ElementPtr _sdf)
Load the collision.
ODECollision(LinkPtr _parent)
Constructor.
virtual void Fini()
Finalize the collision.
ODESurfaceParamsPtr GetODESurface() const
Similar to Collision::GetSurface, but provides dynamically casted pointer to ODESurfaceParams.
void SetSpaceId(dSpaceID _spaceid)
Set the collision's space ID.
dSpaceID GetSpaceId() const
Get the collision's space ID.