/usr/include/choreonoid-1.1/cnoid/src/BodyPlugin/WorldItem.h is in libcnoid-dev 1.1.0+dfsg-6.1+b4.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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\file
\author Shin'ichiro Nakaoka
*/
#ifndef CNOID_BODYPLUGIN_WORLD_ITEM_H_INCLUDED
#define CNOID_BODYPLUGIN_WORLD_ITEM_H_INCLUDED
#include "BodyItem.h"
#include <cnoid/Item>
#include <cnoid/Body>
#include <cnoid/Link>
#include <cnoid/ColdetLinkPair>
#include <vector>
#include "exportdecl.h"
namespace cnoid {
class WorldItemImpl;
/**
WorldItem handles collisions between bodies in the world.
On the other hand, self-collisions in a body are handled by BodyItems.
*/
class CNOID_EXPORT WorldItem : public Item
{
public:
WorldItem();
WorldItem(const WorldItem& org);
virtual ~WorldItem();
inline ItemList<BodyItem> getBodyItems() const {
return getSubItems<BodyItem>();
}
std::vector<ColdetLinkPairPtr> coldetPairs;
void enableCollisionDetection(bool on);
bool isCollisionDetectionEnabled();
void updateCollisions();
SignalProxy< boost::signal<void()> > sigColdetPairsUpdated();
SignalProxy< boost::signal<void()> > sigCollisionsUpdated();
protected:
virtual ItemPtr doDuplicate() const;
virtual void doPutProperties(PutPropertyFunction& putProperty);
virtual bool store(Archive& archive);
virtual bool restore(const Archive& archive);
private:
WorldItemImpl* impl;
};
typedef boost::intrusive_ptr<WorldItem> WorldItemPtr;
void initializeWorldItem(ExtensionManager& ext);
}
#endif
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