18 #ifndef GAZEBO_PHYSICS_SIMBODY_SIMBODYCOLLISION_HH_
19 #define GAZEBO_PHYSICS_SIMBODY_SIMBODYCOLLISION_HH_
29 class ContactGeometry;
50 public:
virtual void Load(sdf::ElementPtr _ptr);
62 public:
virtual ignition::math::AxisAlignedBox
BoundingBox()
const;
74 private: SimTK::ContactGeometry *collisionShape;
default namespace for gazebo
Base class for all collision entities.
Definition: Collision.hh:39
Simbody collisions.
Definition: SimbodyCollision.hh:42
virtual void Load(sdf::ElementPtr _ptr)
Load the collision.
void SetCollisionShape(SimTK::ContactGeometry *_shape)
Set the collision shape.
virtual ignition::math::AxisAlignedBox BoundingBox() const
Get the bounding box for this collision.
virtual void SetCollideBits(unsigned int _bits)
Set the collide bits, used during collision detection.
virtual void SetCategoryBits(unsigned int _bits)
Set the category bits, used during collision detection.
virtual ~SimbodyCollision()
Destructor.
virtual void OnPoseChange()
This function is called when the entity's (or one of its parents) pose of the parent has changed.
SimTK::ContactGeometry * GetCollisionShape() const
Get the simbody collision shape.
SimbodyCollision(LinkPtr _parent)
Constructor.
Definition: SimbodyCollision.hh:28
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:110
Forward declarations for the common classes.
Definition: Animation.hh:27