/*
 * Copyright (C) 2015 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 _GAZEBO_DARTMESH_PRIVATE_HH_
#define _GAZEBO_DARTMESH_PRIVATE_HH_

#include "gazebo/physics/dart/dart_inc.h"
#include "gazebo/physics/dart/DARTTypes.hh"

namespace gazebo
{
  namespace physics
  {
    /// \internal
    /// \brief Private data class for DARTMesh
    class DARTMeshPrivate
    {
      /// \brief Constructor
      public: DARTMeshPrivate() = default;

      /// \brief Default destructor
      public: ~DARTMeshPrivate() = default;

      public: dart::dynamics::ShapeNodePtr ShapeNode() const
      {
        return this->dtMeshShape;
      }

      public: dart::dynamics::MeshShape* Shape() const
      {
        GZ_ASSERT(this->dtMeshShape, "MeshShape is NULL");
        return static_cast<dart::dynamics::MeshShape*>
                       (this->dtMeshShape->getShape().get());
      }

      /// \brief DART mesh shape node
      public: dart::dynamics::ShapeNodePtr dtMeshShape;
    };
  }
}
#endif
