Choreonoid  1.1
OsgCollision.h
説明を見る。
1 
5 #ifndef CNOID_BODYPLUGIN_OSG_COLLISION_H_INCLUDED
6 #define CNOID_BODYPLUGIN_OSG_COLLISION_H_INCLUDED
7 
8 #include <vector>
9 #include <osg/Drawable>
10 #include <cnoid/ColdetLinkPair>
11 #include "exportdecl.h"
12 
13 namespace cnoid {
14 
15  class OsgCollision : public osg::Drawable
16  {
17  public:
18  OsgCollision();
19  OsgCollision(const OsgCollision& org, const osg::CopyOp& copyop = osg::CopyOp::SHALLOW_COPY);
20 
22 
23  virtual ~OsgCollision() { }
24 
25  inline void setColdetPairs(const std::vector<ColdetLinkPairPtr>& pairs) {
26  ppairs = &pairs;
27  };
28 
29  private:
30 
31  const std::vector<ColdetLinkPairPtr>* ppairs;
32 
33  virtual void drawImplementation(osg::RenderInfo& ri) const;
34  virtual osg::BoundingBox computeBound() const;
35  };
36 }
37 
38 #endif