FCLCollisionObject.hpp

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#ifndef DART_COLLISION_FCL_FCLCOLLISIONOBJECT_HPP_
#define DART_COLLISION_FCL_FCLCOLLISIONOBJECT_HPP_

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

namespace dart {
namespace collision {

class FCLCollisionObject : public CollisionObject
{
public:
  friend class FCLCollisionDetector;

  dart::collision::fcl::CollisionObject* getFCLCollisionObject();

  const dart::collision::fcl::CollisionObject* getFCLCollisionObject() const;

protected:
  FCLCollisionObject(
      CollisionDetector* collisionDetector,
      const dynamics::ShapeFrame* shapeFrame,
      const std::shared_ptr<dart::collision::fcl::CollisionGeometry>&
          fclCollGeom);

  // Documentation inherited
  void updateEngineData() override;

protected:
  std::unique_ptr<dart::collision::fcl::CollisionObject> mFCLCollisionObject;
};

} // namespace collision
} // namespace dart

#endif // DART_COLLISION_FCL_FCLCOLLISIONOBJECT_HPP_