/*
 * Copyright (C) 2015-2016 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#ifndef _GAZEBO_DARTCOLLISION_PRIVATE_HH_
#define _GAZEBO_DARTCOLLISION_PRIVATE_HH_

#include "gazebo/physics/dart/dart_inc.h"

namespace gazebo
{
  namespace physics
  {
    /// \internal
    /// \brief Private data class for DARTCollision
    class DARTCollisionPrivate
    {
      /// \brief Constructor
      public: DARTCollisionPrivate(dart::dynamics::BodyNode *_dtBodyNode)
        : dtBodyNode(_dtBodyNode),
          dtCollisionShape(NULL),
          categoryBits(0),
          collideBits(0)
      {
      }

      /// \brief Default destructor
      public: ~DARTCollisionPrivate() = default;

      /// \brief DART body node associated with this collision.
      public: dart::dynamics::BodyNode *dtBodyNode;

      /// \brief DART collision shape associated with this collision.
      public: dart::dynamics::Shape *dtCollisionShape;

      /// \brief Category bits for collision detection
      public: unsigned int categoryBits;

      /// \brief Collide bits for collision detection
      public: unsigned int collideBits;
    };
  }
}
#endif
