OdeGeom.hpp

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#ifndef DART_COLLISION_ODE_DETAIL_ODEGEOM_HPP_
#define DART_COLLISION_ODE_DETAIL_ODEGEOM_HPP_

#include <ode/ode.h>

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

namespace dart {
namespace collision {
namespace detail {

class OdeGeom
{
public:
  struct GeomUserData;

  OdeGeom(const OdeCollisionObject* collObj);

  virtual ~OdeGeom();

  const OdeCollisionObject* getParentCollisionObject() const;

  // Documentation inherited.
  virtual void updateEngineData();

  dGeomID getOdeGeomId() const;

  virtual bool isPlaceable() const;

protected:
  const OdeCollisionObject* mParentCollisionObject;

  dGeomID mGeomId;
};

} // namespace detail
} // namespace collision
} // namespace dart

#endif // DART_COLLISION_ODE_DETAIL_ODEGEOM_HPP_