BulletMotionState.hh
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1 /*
2  * Copyright (C) 2012 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 /* Desc: Bullet motion state class.
18  * Author: Nate Koenig
19  * Date: 25 May 2009
20  */
21 
22 #ifndef _BULLETMOTIONSTATE_HH_
23 #define _BULLETMOTIONSTATE_HH_
24 
27 #include "gazebo/util/system.hh"
28 
29 namespace gazebo
30 {
31  namespace physics
32  {
33  class Link;
34 
38 
40  class GZ_PHYSICS_VISIBLE BulletMotionState : public btMotionState
41  {
43  public: BulletMotionState(LinkPtr _link);
44 
46  public: virtual ~BulletMotionState();
47 
50  public: virtual void getWorldTransform(btTransform &_cogWorldTrans) const;
51 
54  public: virtual void setWorldTransform(const btTransform &_cogWorldTrans);
55 
57  private: LinkPtr link;
58  };
60  }
61 }
62 #endif
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:109
Forward declarations for the common classes.
Definition: Animation.hh:33
Bullet btMotionState encapsulation.
Definition: BulletMotionState.hh:40
default namespace for gazebo