continuous_collision_object.h

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#ifndef FCL_CONTINUOUS_COLLISION_OBJECT_H
#define FCL_CONTINUOUS_COLLISION_OBJECT_H
 
#include <memory>
 
#include "fcl/geometry/collision_geometry.h"
 
namespace fcl
{
 
template <typename S>
class FCL_EXPORT ContinuousCollisionObject
{
public:
  ContinuousCollisionObject(
      const std::shared_ptr<CollisionGeometry<S>>& cgeom);
 
  ContinuousCollisionObject(
      const std::shared_ptr<CollisionGeometry<S>>& cgeom,
      const std::shared_ptr<MotionBase<S>>& motion);
 
  ~ContinuousCollisionObject();
 
  OBJECT_TYPE getObjectType() const;
 
  NODE_TYPE getNodeType() const;
 
  const AABB<S>& getAABB() const;
 
  void computeAABB();
 
  void* getUserData() const;
 
  void setUserData(void* data);
 
  MotionBase<S>* getMotion() const;
 
  FCL_DEPRECATED
  const CollisionGeometry<S>* getCollisionGeometry() const;
 
  const std::shared_ptr<const CollisionGeometry<S>>& collisionGeometry() const;
 
protected:
 
  std::shared_ptr<CollisionGeometry<S>> cgeom;
  std::shared_ptr<const CollisionGeometry<S>> cgeom_const;
 
  std::shared_ptr<MotionBase<S>> motion;
 
  mutable AABB<S> aabb;
 
  void* user_data;
};
 
using ContinuousCollisionObjectf = ContinuousCollisionObject<float>;
using ContinuousCollisionObjectd = ContinuousCollisionObject<double>;
 
} // namespace fcl
 
#include "fcl/narrowphase/continuous_collision_object-inl.h"
 
#endif