Ignition Physics

API Reference

2.3.0
ConstructCollision.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 
18 #ifndef IGNITION_PHYSICS_SDF_CONSTRUCTCOLLISION_HH_
19 #define IGNITION_PHYSICS_SDF_CONSTRUCTCOLLISION_HH_
20 
21 #include <sdf/Collision.hh>
22 
24 
25 namespace ignition {
26 namespace physics {
27 namespace sdf {
28 
29 class ConstructSdfCollision : public virtual Feature
30 {
31  public: template <typename PolicyT, typename FeaturesT>
32  class Link : public virtual Feature::Link<PolicyT, FeaturesT>
33  {
34  public: using ShapePtrType = ShapePtr<PolicyT, FeaturesT>;
35 
36  public: ShapePtrType ConstructCollision(const ::sdf::Collision &_collision);
37  };
38 
39  public: template <typename PolicyT>
40  class Implementation : public virtual Feature::Implementation<PolicyT>
41  {
42  public: virtual Identity ConstructSdfCollision(
43  const Identity &_linkID, const ::sdf::Collision &_collision) = 0;
44  };
45 };
46 
48 template <typename PolicyT, typename FeaturesT>
50  const ::sdf::Collision &_collision) -> ShapePtrType
51 {
52  return ShapePtrType(this->pimpl,
53  this->template Interface<ConstructSdfCollision>()
54  ->ConstructSdfCollision(this->identity, _collision));
55 }
56 
57 }
58 }
59 }
60 
61 #endif
This class defines the concept of a Feature. It should be inherited by classes that define some plugi...
Definition: Feature.hh:35
Identity identity
This field contains information to identify the entity.
Definition: Entity.hh:292
std::shared_ptr< Pimpl > pimpl
This is a pointer to the physics engine implementation, and it can be used by the object features to ...
Definition: Entity.hh:289
Definition: ConstructCollision.hh:29