BulletCollisionObject.hpp

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#ifndef DART_COLLISION_BULLET_BULLETCOLLISIONOBJECT_HPP_
#define DART_COLLISION_BULLET_BULLETCOLLISIONOBJECT_HPP_

// Must be included before any Bullet headers.
#include "dart/config.hpp"

#include <btBulletCollisionCommon.h>

#include "dart/dynamics/CollisionObject.hpp"
#include "dart/dynamics/bullet/BulletCollisionShape.hpp"

namespace dart {
namespace collision {

class CollisionObject;

class BulletCollisionObject : public CollisionObject
{
public:
  friend class BulletCollisionDetector;

  btCollisionObject* getBulletCollisionObject();

  const btCollisionObject* getBulletCollisionObject() const;

protected:
  BulletCollisionObject(
      CollisionDetector* collisionDetector,
      const dynamics::ShapeFrame* shapeFrame,
      const std::shared_ptr<BulletCollisionShape>& bulletCollisionShape);

  // Documentation inherited
  void updateEngineData() override;

protected:
  std::shared_ptr<BulletCollisionShape> mBulletCollisionShape;
  std::unique_ptr<btCollisionObject> mBulletCollisionObject;
};

} // namespace collision
} // namespace dart

#endif // DART_COLLISION_BULLET_BULLETCOLLISIONOBJECT_HPP_