PenetrationBlocker.h

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#ifndef CNOID_BODY_PENETRATION_BLOCKER_H
#define CNOID_BODY_PENETRATION_BLOCKER_H
 
#include "Link.h"
#include <cnoid/CollisionDetector>
#include "exportdecl.h"
 
namespace cnoid {
 
class PenetrationBlockerImpl;
 
class CNOID_EXPORT PenetrationBlocker
{
public:
    PenetrationBlocker(CollisionDetectorPtr collisionDetector, Link* targetLink);
        
    void addOpponentLink(Link* link);
    void setDepth(double depth);
    void start();
    bool adjust(Isometry3& io_T, const Vector3& pushDirection);
        
private:
    PenetrationBlockerImpl* impl;
};
 
}
 
#endif