CollisionObject.hpp

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#ifndef DART_COLLISION_COLLISIONOBJECT_HPP_
#define DART_COLLISION_COLLISIONOBJECT_HPP_

#include <Eigen/Dense>

#include "dart/dynamics/SmartPointer.hpp"

namespace dart {
namespace collision {

class CollisionObject
{
public:
  friend class CollisionGroup;

  virtual ~CollisionObject() = default;

  CollisionDetector* getCollisionDetector();

  const CollisionDetector* getCollisionDetector() const;

  const dynamics::ShapeFrame* getShapeFrame() const;

  dynamics::ConstShapePtr getShape() const;

  const Eigen::Isometry3d& getTransform() const;

protected:
  CollisionObject(
      CollisionDetector* collisionDetector,
      const dynamics::ShapeFrame* shapeFrame);

  virtual void updateEngineData() = 0;

protected:
  CollisionDetector* mCollisionDetector;

  const dynamics::ShapeFrame* mShapeFrame;
};

} // namespace collision
} // namespace dart

#endif // DART_COLLISION_COLLISIONOBJECT_HPP_