SimoxObjectShape.h

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#pragma once
 
#include <VirtualRobot/VirtualRobot.h>
 
#include <SemanticObjectRelations/Shapes/Shape.h>
 
 
namespace armarx::semantic
{
 
    class SimoxObjectShape : public semrel::Shape
    {
    public:
 
        SimoxObjectShape();
        SimoxObjectShape(const VirtualRobot::ManipulationObjectPtr& object,
                         const std::string& objectClassName);
 
        // Shape interface
        Eigen::Vector3f getPosition() const override;
        void setPosition(Eigen::Vector3f const& position) override;
 
        Eigen::Quaternionf getOrientation() const override;
        void setOrientation(Eigen::Quaternionf const& orientation) override;
 
        semrel::TriMesh getTriMeshLocal() const override;
 
        semrel::AxisAlignedBoundingBox getAABBLocal() const override;
        semrel::AxisAlignedBoundingBox getAABB() const override;
 
        std::shared_ptr<btCollisionShape> getBulletCollisionShape(float margin) const override;
 
        void addMargin(float margin) override;
 
        std::string tagPrefix() const override;
 
 
    public:
 
        VirtualRobot::ManipulationObjectPtr object = nullptr;
        std::string objectClassName = "";
        std::string entityId = "";
 
    };
 
}