dartpy 7.0.0.dev0__cp312-cp312-manylinux_2_39_x86_64.whl

include/dart/collision/bullet/BulletTypes.hpp

@@ -0,0 +1,57 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_COLLISION_BULLET_BULLETTYPES_HPP_
+#define DART_COLLISION_BULLET_BULLETTYPES_HPP_
+
+#include <Eigen/Dense>
+#include <btBulletCollisionCommon.h>
+
+namespace dart {
+namespace collision {
+
+/// @brief Convert Bullet vector3 type to Eigen vector3 type
+Eigen::Vector3d convertVector3(const btVector3& _vec);
+
+/// @brief Convert Eigen vector3 type to Bullet vector3 type
+btVector3 convertVector3(const Eigen::Vector3d& _vec);
+
+/// @brief Convert Bullet matrix3x3 type to Eigen matrix3x3 type
+btMatrix3x3 convertMatrix3x3(const Eigen::Matrix3d& _R);
+
+/// @brief Convert Bullet transformation type to Eigen transformation type
+btTransform convertTransform(const Eigen::Isometry3d& _T);
+
+} // namespace collision
+} // namespace dart
+
+#endif // DART_COLLISION_BULLET_BULLETTYPES_HPP_

include/dart/collision/bullet/all.hpp

@@ -0,0 +1,8 @@
+// Automatically generated file by cmake
+
+#include "dart/collision/bullet/BulletCollisionDetector.hpp"
+#include "dart/collision/bullet/BulletCollisionGroup.hpp"
+#include "dart/collision/bullet/BulletCollisionObject.hpp"
+#include "dart/collision/bullet/BulletCollisionShape.hpp"
+#include "dart/collision/bullet/BulletInclude.hpp"
+#include "dart/collision/bullet/BulletTypes.hpp"

include/dart/collision/bullet/bullet.hpp

@@ -0,0 +1,14 @@
+// Automatically generated file by cmake
+
+// DEPRECATED: This header is deprecated and will be removed in the next major release.
+// Please use <dart/collision/bullet/all.hpp> instead of <dart/collision/bullet/bullet.hpp>
+
+#ifndef DART_SUPPRESS_DEPRECATED_HEADER_WARNING
+#if defined(_MSC_VER)
+#  pragma message("Warning: dart/collision/bullet/bullet.hpp is deprecated. Use dart/collision/bullet/all.hpp instead.")
+#elif defined(__GNUC__) || defined(__clang__)
+#  warning "dart/collision/bullet/bullet.hpp is deprecated. Use dart/collision/bullet/all.hpp instead."
+#endif
+#endif // DART_SUPPRESS_DEPRECATED_HEADER_WARNING
+
+#include "dart/collision/bullet/all.hpp"

include/dart/collision/bullet/detail/BulletCollisionDispatcher.hpp

@@ -0,0 +1,70 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_COLLISION_BULLET_DETAIL_BULLETCOLLISIONDISPATCHER_HPP_
+#define DART_COLLISION_BULLET_DETAIL_BULLETCOLLISIONDISPATCHER_HPP_
+
+#include <dart/collision/CollisionFilter.hpp>
+#include <dart/collision/CollisionObject.hpp>
+#include <dart/collision/bullet/BulletInclude.hpp>
+
+namespace dart {
+namespace collision {
+namespace detail {
+
+class BulletCollisionDispatcher : public btCollisionDispatcher
+{
+public:
+  explicit BulletCollisionDispatcher(btCollisionConfiguration* config);
+
+  void setDone(bool done);
+
+  bool getDone() const;
+
+  void setFilter(const std::shared_ptr<CollisionFilter>& filter);
+
+  auto getFilter() const -> std::shared_ptr<CollisionFilter>;
+
+  bool needsCollision(
+      const btCollisionObject* body0, const btCollisionObject* body1) override;
+
+protected:
+  bool mDone;
+
+  std::shared_ptr<CollisionFilter> mFilter;
+};
+
+} // namespace detail
+} // namespace collision
+} // namespace dart
+
+#endif // DART_COLLISION_BULLET_DETAIL_BULLETCOLLISIONDISPATCHER_HPP_

include/dart/collision/bullet/detail/BulletOverlapFilterCallback.hpp

@@ -0,0 +1,72 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_COLLISION_BULLET_DETAIL_BULLETOVERLAPFILTERCALLBACK_HPP_
+#define DART_COLLISION_BULLET_DETAIL_BULLETOVERLAPFILTERCALLBACK_HPP_
+
+#include <dart/collision/CollisionOption.hpp>
+#include <dart/collision/CollisionResult.hpp>
+#include <dart/collision/bullet/BulletInclude.hpp>
+
+namespace dart {
+namespace collision {
+namespace detail {
+
+struct BulletOverlapFilterCallback : public btOverlapFilterCallback
+{
+  // Constructor
+  explicit BulletOverlapFilterCallback(
+      const std::shared_ptr<CollisionFilter>& filter = nullptr,
+      CollisionGroup* group1 = nullptr,
+      CollisionGroup* group2 = nullptr);
+
+  /// Returns true when pairs need collision
+  bool needBroadphaseCollision(
+      btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) const override;
+
+  /// True if at least one contact is found. This flag is used only when
+  /// mResult is nullptr; otherwise the actual collision result is in mResult.
+  bool foundCollision;
+
+  /// Whether the collision iteration can stop
+  mutable bool done;
+
+  std::shared_ptr<CollisionFilter> filter;
+  const CollisionGroup* group1;
+  const CollisionGroup* group2;
+};
+
+} // namespace detail
+} // namespace collision
+} // namespace dart
+
+#endif // DART_COLLISION_BULLET_DETAIL_BULLETOVERLAPFILTERCALLBACK_HPP_

include/dart/collision/collision.hpp

@@ -0,0 +1,14 @@
+// Automatically generated file by cmake
+
+// DEPRECATED: This header is deprecated and will be removed in the next major release.
+// Please use <dart/collision/all.hpp> instead of <dart/collision/collision.hpp>
+
+#ifndef DART_SUPPRESS_DEPRECATED_HEADER_WARNING
+#if defined(_MSC_VER)
+#  pragma message("Warning: dart/collision/collision.hpp is deprecated. Use dart/collision/all.hpp instead.")
+#elif defined(__GNUC__) || defined(__clang__)
+#  warning "dart/collision/collision.hpp is deprecated. Use dart/collision/all.hpp instead."
+#endif
+#endif // DART_SUPPRESS_DEPRECATED_HEADER_WARNING
+
+#include "dart/collision/all.hpp"

include/dart/collision/dart/DARTCollide.hpp

@@ -0,0 +1,106 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_COLLISION_DART_DARTCOLLIDE_HPP_
+#define DART_COLLISION_DART_DARTCOLLIDE_HPP_
+
+#include <dart/collision/CollisionDetector.hpp>
+
+#include <Eigen/Dense>
+
+#include <vector>
+
+namespace dart {
+namespace collision {
+
+int collide(CollisionObject* o1, CollisionObject* o2, CollisionResult& result);
+
+int collideBoxBox(
+    CollisionObject* o1,
+    CollisionObject* o2,
+    const Eigen::Vector3d& size0,
+    const Eigen::Isometry3d& T0,
+    const Eigen::Vector3d& size1,
+    const Eigen::Isometry3d& T1,
+    CollisionResult& result);
+
+int collideBoxSphere(
+    CollisionObject* o1,
+    CollisionObject* o2,
+    const Eigen::Vector3d& size0,
+    const Eigen::Isometry3d& T0,
+    const double& r1,
+    const Eigen::Isometry3d& T1,
+    CollisionResult& result);
+
+int collideSphereBox(
+    CollisionObject* o1,
+    CollisionObject* o2,
+    const double& r0,
+    const Eigen::Isometry3d& T0,
+    const Eigen::Vector3d& size1,
+    const Eigen::Isometry3d& T1,
+    CollisionResult& result);
+
+int collideSphereSphere(
+    CollisionObject* o1,
+    CollisionObject* o2,
+    const double& r0,
+    const Eigen::Isometry3d& c0,
+    const double& r1,
+    const Eigen::Isometry3d& c1,
+    CollisionResult& result);
+
+int collideCylinderSphere(
+    CollisionObject* o1,
+    CollisionObject* o2,
+    const double& cyl_rad,
+    const double& half_height,
+    const Eigen::Isometry3d& T0,
+    const double& sphere_rad,
+    const Eigen::Isometry3d& T1,
+    CollisionResult& result);
+
+int collideCylinderPlane(
+    CollisionObject* o1,
+    CollisionObject* o2,
+    const double& cyl_rad,
+    const double& half_height,
+    const Eigen::Isometry3d& T0,
+    const Eigen::Vector3d& plane_normal,
+    const Eigen::Isometry3d& T1,
+    CollisionResult& result);
+
+} // namespace collision
+} // namespace dart
+
+#endif // DART_COLLISION_DART_DARTCOLLIDE_HPP_

include/dart/collision/dart/DARTCollisionDetector.hpp

@@ -0,0 +1,109 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_COLLISION_DART_DARTCOLLISIONDETECTOR_HPP_
+#define DART_COLLISION_DART_DARTCOLLISIONDETECTOR_HPP_
+
+#include <dart/collision/CollisionDetector.hpp>
+
+#include <vector>
+
+namespace dart {
+namespace collision {
+
+class DARTCollisionObject;
+
+class DARTCollisionDetector : public CollisionDetector
+{
+public:
+  using CollisionDetector::createCollisionGroup;
+
+  static std::shared_ptr<DARTCollisionDetector> create();
+
+  // Documentation inherited
+  std::shared_ptr<CollisionDetector> cloneWithoutCollisionObjects()
+      const override;
+
+  // Documentation inherited
+  const std::string& getType() const override;
+
+  /// Get collision detector type for this class
+  static const std::string& getStaticType();
+
+  // Documentation inherited
+  std::unique_ptr<CollisionGroup> createCollisionGroup() override;
+
+  // Documentation inherited
+  bool collide(
+      CollisionGroup* group,
+      const CollisionOption& option = CollisionOption(false, 1u, nullptr),
+      CollisionResult* result = nullptr) override;
+
+  // Documentation inherited
+  bool collide(
+      CollisionGroup* group1,
+      CollisionGroup* group2,
+      const CollisionOption& option = CollisionOption(false, 1u, nullptr),
+      CollisionResult* result = nullptr) override;
+
+  // Documentation inherited
+  double distance(
+      CollisionGroup* group,
+      const DistanceOption& option = DistanceOption(false, 0.0, nullptr),
+      DistanceResult* result = nullptr) override;
+
+  // Documentation inherited
+  double distance(
+      CollisionGroup* group1,
+      CollisionGroup* group2,
+      const DistanceOption& option = DistanceOption(false, 0.0, nullptr),
+      DistanceResult* result = nullptr) override;
+
+protected:
+  /// Constructor
+  DARTCollisionDetector();
+
+  // Documentation inherited
+  std::unique_ptr<CollisionObject> createCollisionObject(
+      const dynamics::ShapeFrame* shapeFrame) override;
+
+  // Documentation inherited
+  void refreshCollisionObject(CollisionObject* object) override;
+
+private:
+  static Registrar<DARTCollisionDetector> mRegistrar;
+};
+
+} // namespace collision
+} // namespace dart
+
+#endif // DART_COLLISION_DART_DARTCOLLISIONDETECTOR_HPP_

include/dart/collision/dart/DARTCollisionGroup.hpp

@@ -0,0 +1,82 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_COLLISION_DART_DARTCOLLISIONGROUP_HPP_
+#define DART_COLLISION_DART_DARTCOLLISIONGROUP_HPP_
+
+#include <dart/collision/CollisionGroup.hpp>
+
+namespace dart {
+namespace collision {
+
+class DARTCollisionObject;
+
+class DARTCollisionGroup : public CollisionGroup
+{
+public:
+  friend class DARTCollisionDetector;
+
+  /// Constructor
+  DARTCollisionGroup(const CollisionDetectorPtr& collisionDetector);
+
+  /// Destructor
+  virtual ~DARTCollisionGroup() = default;
+
+protected:
+  // Documentation inherited
+  void initializeEngineData() override;
+
+  // Documentation inherited
+  void addCollisionObjectToEngine(CollisionObject* object) override;
+
+  // Documentation inherited
+  void addCollisionObjectsToEngine(
+      const std::vector<CollisionObject*>& collObjects) override;
+
+  // Documentation inherited
+  void removeCollisionObjectFromEngine(CollisionObject* object) override;
+
+  // Documentation inherited
+  void removeAllCollisionObjectsFromEngine() override;
+
+  // Documentation inherited
+  void updateCollisionGroupEngineData() override;
+
+protected:
+  /// CollisionObjects added to this DARTCollisionGroup
+  std::vector<CollisionObject*> mCollisionObjects;
+};
+
+} // namespace collision
+} // namespace dart
+
+#endif // DART_COLLISION_DART_DARTCOLLISIONGROUP_HPP_

include/dart/collision/dart/DARTCollisionObject.hpp

@@ -0,0 +1,63 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_COLLISION_DART_DARTCOLLISIONOBJECT_HPP_
+#define DART_COLLISION_DART_DARTCOLLISIONOBJECT_HPP_
+
+#include <dart/collision/CollisionObject.hpp>
+
+#include <Eigen/Dense>
+
+namespace dart {
+namespace collision {
+
+class CollisionObject;
+
+class DARTCollisionObject : public CollisionObject
+{
+public:
+  friend class DARTCollisionDetector;
+
+protected:
+  /// Constructor
+  DARTCollisionObject(
+      CollisionDetector* collisionDetector,
+      const dynamics::ShapeFrame* shapeFrame);
+
+  // Documentation inherited
+  void updateEngineData() override;
+};
+
+} // namespace collision
+} // namespace dart
+
+#endif // DART_COLLISION_DART_DARTCOLLISIONOBJECT_HPP_

include/dart/collision/dart/all.hpp

@@ -0,0 +1,6 @@
+// Automatically generated file by cmake
+
+#include "dart/collision/dart/DARTCollide.hpp"
+#include "dart/collision/dart/DARTCollisionDetector.hpp"
+#include "dart/collision/dart/DARTCollisionGroup.hpp"
+#include "dart/collision/dart/DARTCollisionObject.hpp"

include/dart/collision/dart/dart.hpp

@@ -0,0 +1,14 @@
+// Automatically generated file by cmake
+
+// DEPRECATED: This header is deprecated and will be removed in the next major release.
+// Please use <dart/collision/dart/all.hpp> instead of <dart/collision/dart/dart.hpp>
+
+#ifndef DART_SUPPRESS_DEPRECATED_HEADER_WARNING
+#if defined(_MSC_VER)
+#  pragma message("Warning: dart/collision/dart/dart.hpp is deprecated. Use dart/collision/dart/all.hpp instead.")
+#elif defined(__GNUC__) || defined(__clang__)
+#  warning "dart/collision/dart/dart.hpp is deprecated. Use dart/collision/dart/all.hpp instead."
+#endif
+#endif // DART_SUPPRESS_DEPRECATED_HEADER_WARNING
+
+#include "dart/collision/dart/all.hpp"