bullet_discrete_bvh_manager.hpp

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/* Author: Levi Armstrong, Jens Petit */
 
#pragma once
 
#include <moveit/collision_detection_bullet/bullet_integration/bullet_utils.hpp>
#include <moveit/collision_detection_bullet/bullet_integration/bullet_bvh_manager.hpp>
#include <moveit/macros/class_forward.hpp>
 
namespace collision_detection_bullet
{
MOVEIT_CLASS_FORWARD(BulletDiscreteBVHManager);

class BulletDiscreteBVHManager : public BulletBVHManager
{
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  BulletDiscreteBVHManager() = default;
 
  ~BulletDiscreteBVHManager() override = default;

  BulletDiscreteBVHManagerPtr clone() const;

  void contactTest(collision_detection::CollisionResult& collisions, const collision_detection::CollisionRequest& req,
                   const collision_detection::AllowedCollisionMatrix* acm, bool self) override;

  void addCollisionObject(const CollisionObjectWrapperPtr& cow) override;
};
}  // namespace collision_detection_bullet