SceneCollision.h

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#ifndef CNOID_BODY_SCENE_COLLISION_H
#define CNOID_BODY_SCENE_COLLISION_H
 
#include "CollisionLinkPair.h"
#include <cnoid/SceneDrawables>
#include "exportdecl.h"
 
namespace cnoid {
 
class SceneRenderer;
 
class CNOID_EXPORT SceneCollision : public SgLineSet
{
public:
    SceneCollision(std::shared_ptr<std::vector<CollisionLinkPairPtr>> collisionPairs);
    void setDirty() { isDirty = true; }
    void render(SceneRenderer* renderer);
 
private:
    SceneCollision(const SceneCollision& org);
 
    std::shared_ptr<std::vector<CollisionLinkPairPtr>> collisionPairs;
    SgVertexArrayPtr vertices_;
    bool isDirty;
};
    
typedef ref_ptr<SceneCollision> SceneCollisionPtr;
 
}
 
#endif