Surface.hh

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/*
 * Copyright 2020 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 SDF_SURFACE_HH_
#define SDF_SURFACE_HH_
 
#include "sdf/Element.hh"
#include "sdf/Types.hh"
#include "sdf/sdf_config.h"
#include "sdf/system_util.hh"
 
namespace sdf
{
  // Inline bracket to help doxygen filtering.
  inline namespace SDF_VERSION_NAMESPACE {
  //
  // Forward declaration.
  class ContactPrivate;
  class SurfacePrivate;
 
  class SDFORMAT_VISIBLE Contact
  {
    public: Contact();
 
    public: Contact(const Contact &_contact);
 
    public: Contact(Contact &&_contact) noexcept;
 
    public: Contact &operator=(Contact &&_contact);
 
    public: Contact &operator=(const Contact &_contact);
 
    public: ~Contact();
 
    public: Errors Load(ElementPtr _sdf);
 
    public: sdf::ElementPtr Element() const;
 
    public: uint16_t CollideBitmask() const;
 
    public: void SetCollideBitmask(const uint16_t _bitmask);
 
    private: ContactPrivate *dataPtr;
  };
 
  class SDFORMAT_VISIBLE Surface
  {
    public: Surface();
 
    public: Surface(const Surface &_surface);
 
    public: Surface(Surface &&_surface) noexcept;
 
    public: Surface &operator=(Surface &&_surface);
 
    public: Surface &operator=(const Surface &_surface);
 
    public: ~Surface();
 
    public: Errors Load(ElementPtr _sdf);
 
    public: sdf::ElementPtr Element() const;
 
    public: sdf::Contact *Contact() const;
 
    public: void SetContact(const sdf::Contact &_contact);
 
    private: SurfacePrivate *dataPtr;
  };
  }
}
 
#endif