FCLCollisionGroup.hpp

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#ifndef DART_COLLISION_FCL_FCLCOLLISIONGROUP_HPP_
#define DART_COLLISION_FCL_FCLCOLLISIONGROUP_HPP_

#include "dart/dynamics/CollisionGroup.hpp"
#include "dart/dynamics/fcl/BackwardCompatibility.hpp"

namespace dart {
namespace collision {

class CollisionObject;
class FCLCollisionObjectUserData;

class FCLCollisionGroup : public CollisionGroup
{
public:
  friend class FCLCollisionDetector;

  using FCLCollisionManager
      = dart::collision::fcl::DynamicAABBTreeCollisionManager;

  FCLCollisionGroup(const CollisionDetectorPtr& collisionDetector);

  virtual ~FCLCollisionGroup() = default;

protected:
  using CollisionGroup::updateEngineData;

  // Documentation inherited
  void initializeEngineData() override;

  // Documentation inherited
  void addCollisionObjectToEngine(CollisionObject* object) override;

  // Documentation inherited
  void addCollisionObjectsToEngine(
      const std::vector<CollisionObject*>& collObjects) override;

  // Documentation inherited
  void removeCollisionObjectFromEngine(CollisionObject* object) override;

  // Documentation inherited
  void removeAllCollisionObjectsFromEngine() override;

  // Documentation inherited
  void updateCollisionGroupEngineData() override;

  FCLCollisionManager* getFCLCollisionManager();

  const FCLCollisionManager* getFCLCollisionManager() const;

protected:
  std::unique_ptr<FCLCollisionManager> mBroadPhaseAlg;
};

} // namespace collision
} // namespace dart

#endif // DART_COLLISION_FCL_FCLCOLLISIONGROUP_HPP_