OdeCollisionGroup.hpp

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#ifndef DART_COLLISION_ODE_ODECOLLISIONGROUP_HPP_
#define DART_COLLISION_ODE_ODECOLLISIONGROUP_HPP_

#include <ode/ode.h>

#include "dart/dynamics/CollisionGroup.hpp"

namespace dart {
namespace collision {

class OdeCollisionGroup : public CollisionGroup
{
public:
  friend class OdeCollisionDetector;

  OdeCollisionGroup(const CollisionDetectorPtr& collisionDetector);

  virtual ~OdeCollisionGroup();

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;

  dSpaceID getOdeSpaceId() const;

protected:
  dSpaceID mSpaceId;
};

} // namespace collision
} // namespace dart

#endif // DART_COLLISION_ODE_ODECOLLISIONGROUP_HPP_