OdeCollisionObject.hpp

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#ifndef DART_COLLISION_ODE_ODECOLLISIONOBJECT_HPP_
#define DART_COLLISION_ODE_ODECOLLISIONOBJECT_HPP_

#include <ode/ode.h>

#include "dart/dynamics/CollisionObject.hpp"
#include "dart/dynamics/ode/OdeCollisionDetector.hpp"

namespace dart {
namespace collision {

namespace detail {
class OdeGeom;
} // namespace detail

class OdeCollisionObject : public CollisionObject
{
public:
  friend class OdeCollisionDetector;
  friend class OdeCollisionGroup;

  virtual ~OdeCollisionObject();

protected:
  OdeCollisionObject(
      OdeCollisionDetector* collisionDetector,
      const dynamics::ShapeFrame* shapeFrame);

  OdeCollisionObject& operator=(OdeCollisionObject&& other);

  // Documentation inherited
  void updateEngineData() override;

  dBodyID getOdeBodyId() const;

  dGeomID getOdeGeomId() const;

protected:
  std::unique_ptr<detail::OdeGeom> mOdeGeom;

  dBodyID mBodyId;
};

} // namespace collision
} // namespace dart

#endif // DART_COLLISION_ODE_ODECOLLISIONOBJECT_HPP_