dartpy 7.0.0.dev0__cp313-cp313-manylinux_2_39_x86_64.whl

include/dart/collision/ode/detail/OdeBox.hpp

@@ -0,0 +1,58 @@
+/*
+ * 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_ODE_DETAIL_ODEBOX_HPP_
+#define DART_COLLISION_ODE_DETAIL_ODEBOX_HPP_
+
+#include <dart/collision/ode/detail/OdeGeom.hpp>
+
+#include <ode/ode.h>
+
+namespace dart {
+namespace collision {
+namespace detail {
+
+class OdeBox : public OdeGeom
+{
+public:
+  /// Constructor
+  OdeBox(const OdeCollisionObject* parent, const Eigen::Vector3d& size);
+
+  /// Destructor
+  virtual ~OdeBox();
+};
+
+} // namespace detail
+} // namespace collision
+} // namespace dart
+
+#endif // DART_COLLISION_ODE_DETAIL_ODEBOX_HPP_

include/dart/collision/ode/detail/OdeCapsule.hpp

@@ -0,0 +1,58 @@
+/*
+ * 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_ODE_DETAIL_ODECAPSULE_HPP_
+#define DART_COLLISION_ODE_DETAIL_ODECAPSULE_HPP_
+
+#include <dart/collision/ode/detail/OdeGeom.hpp>
+
+#include <ode/ode.h>
+
+namespace dart {
+namespace collision {
+namespace detail {
+
+class OdeCapsule : public OdeGeom
+{
+public:
+  /// Constructor
+  OdeCapsule(const OdeCollisionObject* parent, double radius, double height);
+
+  /// Destructor
+  virtual ~OdeCapsule();
+};
+
+} // namespace detail
+} // namespace collision
+} // namespace dart
+
+#endif // DART_COLLISION_ODE_DETAIL_ODECAPSULE_HPP_

include/dart/collision/ode/detail/OdeCylinder.hpp

@@ -0,0 +1,58 @@
+/*
+ * 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_ODE_DETAIL_ODECYLINDER_HPP_
+#define DART_COLLISION_ODE_DETAIL_ODECYLINDER_HPP_
+
+#include <dart/collision/ode/detail/OdeGeom.hpp>
+
+#include <ode/ode.h>
+
+namespace dart {
+namespace collision {
+namespace detail {
+
+class OdeCylinder : public OdeGeom
+{
+public:
+  /// Constructor
+  OdeCylinder(const OdeCollisionObject* parent, double radius, double height);
+
+  /// Destructor
+  virtual ~OdeCylinder();
+};
+
+} // namespace detail
+} // namespace collision
+} // namespace dart
+
+#endif // DART_COLLISION_ODE_DETAIL_ODECYLINDER_HPP_

include/dart/collision/ode/detail/OdeGeom.hpp

@@ -0,0 +1,83 @@
+/*
+ * 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_ODE_DETAIL_ODEGEOM_HPP_
+#define DART_COLLISION_ODE_DETAIL_ODEGEOM_HPP_
+
+#include <dart/collision/ode/OdeCollisionDetector.hpp>
+#include <dart/collision/ode/OdeCollisionObject.hpp>
+
+#include <ode/ode.h>
+
+namespace dart {
+namespace collision {
+namespace detail {
+
+class OdeGeom
+{
+public:
+  struct GeomUserData;
+
+  /// Constructor.
+  OdeGeom(const OdeCollisionObject* collObj);
+
+  /// Destructor.
+  virtual ~OdeGeom();
+
+  /// Returns the parent collision object.
+  const OdeCollisionObject* getParentCollisionObject() const;
+
+  // Documentation inherited.
+  virtual void updateEngineData();
+
+  /// Returns the ODE geom ID associated to this object.
+  dGeomID getOdeGeomId() const;
+
+  /// Returns true if the ODE geom is placeable.
+  virtual bool isPlaceable() const;
+
+protected:
+  /// Parent collision object
+  const OdeCollisionObject* mParentCollisionObject;
+
+  /// ODE geom ID associated with this object.
+  ///
+  /// This geom ID should be set by the concrete classes such as OdeBox and
+  /// OdeSphere.
+  dGeomID mGeomId;
+};
+
+} // namespace detail
+} // namespace collision
+} // namespace dart
+
+#endif // DART_COLLISION_ODE_DETAIL_ODEGEOM_HPP_

include/dart/collision/ode/detail/OdeHeightmap-impl.hpp

@@ -0,0 +1,170 @@
+/*
+ * 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.
+ */
+
+#include <dart/collision/ode/detail/OdeHeightmap.hpp>
+
+#include <dart/dynamics/HeightmapShape.hpp>
+
+#include <type_traits>
+
+namespace dart {
+namespace collision {
+namespace detail {
+
+#define HF_THICKNESS 0.05
+
+//==============================================================================
+// creates the ODE height field. Only enabled if the height data type is float.
+template <class S>
+void setOdeHeightfieldDetails(
+    const dHeightfieldDataID odeHeightfieldId,
+    const S* heights,
+    const std::size_t& width,
+    const std::size_t& height,
+    const Eigen::Matrix<S, 3, 1>& scale,
+    typename std::enable_if<std::is_same<float, S>::value>::type* = 0)
+{
+  assert(width >= 2);
+  assert(height >= 2);
+  if ((width < 2) || (height < 2)) {
+    dtwarn << "Cannot create height field of dimensions " << width << "x"
+           << height << ", needs to be at least 2" << std::endl;
+    return;
+  }
+  dGeomHeightfieldDataBuildSingle(
+      odeHeightfieldId,
+      heights,
+      0,
+      (width - 1) * scale.x(),  // width (in meters)
+      (height - 1) * scale.y(), // height (in meters)
+      width,                    // width (sampling size)
+      height,                   // height (sampling size)
+      scale.z(),                // vertical scaling
+      0.0,                      // vertical offset
+      HF_THICKNESS,             // vertical thickness for closing the mesh
+      0);                       // wrap mode
+}
+
+//==============================================================================
+// creates the ODE height field. Only enabled if the height data type is double.
+template <class S>
+void setOdeHeightfieldDetails(
+    const dHeightfieldDataID odeHeightfieldId,
+    const S* heights,
+    const std::size_t& width,
+    const std::size_t& height,
+    const Eigen::Matrix<S, 3, 1>& scale,
+    typename std::enable_if<std::is_same<double, S>::value>::type* = 0)
+{
+  assert(width >= 2);
+  assert(height >= 2);
+  if ((width < 2) || (height < 2)) {
+    dtwarn << "Cannot create height field of dimensions " << width << "x"
+           << height << ", needs to be at least 2" << std::endl;
+    return;
+  }
+
+  dGeomHeightfieldDataBuildDouble(
+      odeHeightfieldId,
+      heights,
+      0,
+      (width - 1) * scale.x(),  // width (in meters)
+      (height - 1) * scale.y(), // height (in meters)
+      width,                    // width (sampling size)
+      height,                   // height (sampling size)
+      scale.z(),                // vertical scaling
+      0.0,                      // vertical offset
+      HF_THICKNESS,             // vertical thickness for closing the mesh
+      0);                       // wrap mode
+}
+
+//==============================================================================
+template <typename S>
+OdeHeightmap<S>::OdeHeightmap(
+    const OdeCollisionObject* parent,
+    const dynamics::HeightmapShape<S>* heightMap)
+  : OdeGeom(parent)
+{
+  assert(heightMap);
+
+  // get the heightmap parameters
+  const auto& scale = heightMap->getScale();
+  const auto& heights = heightMap->getHeightField();
+
+  // Create the ODE heightfield
+  mOdeHeightfieldId = dGeomHeightfieldDataCreate();
+
+  // specify height field details
+  setOdeHeightfieldDetails(
+      mOdeHeightfieldId,
+      heights.data(),
+      heightMap->getWidth(),
+      heightMap->getDepth(),
+      scale);
+
+  // Restrict the bounds of the AABB to improve efficiency
+  dGeomHeightfieldDataSetBounds(
+      mOdeHeightfieldId, heightMap->getMinHeight(), heightMap->getMaxHeight());
+
+  // create the height field
+  mGeomId = dCreateHeightfield(0, mOdeHeightfieldId, 1);
+
+  // rotate it so that z axis is up.
+  // remember the transform as a permanent relative transform by assigning
+  // it to the geometry.
+  dQuaternion q;
+  q[0] = sqrt(0.5);
+  q[1] = sqrt(0.5);
+  q[2] = 0;
+  q[3] = 0;
+  dGeomSetQuaternion(mGeomId, q);
+
+  // TODO Take this out as soon as testing is finished, getting the
+  // AABB is only needed for the debug print.
+  dReal aabb[6];
+  dGeomGetAABB(mGeomId, aabb);
+  dtdbg << "ODE Heightfield AABB: min = {" << aabb[0] << ", " << aabb[2] << ", "
+        << aabb[4] << "} max = {" << aabb[1] << ", " << aabb[3] << ", "
+        << aabb[5] << "}" << std::endl;
+}
+
+//==============================================================================
+template <typename S>
+OdeHeightmap<S>::~OdeHeightmap()
+{
+  dGeomHeightfieldDataDestroy(mOdeHeightfieldId);
+  dGeomDestroy(mGeomId);
+}
+
+} // namespace detail
+} // namespace collision
+} // namespace dart

include/dart/collision/ode/detail/OdeHeightmap.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_ODE_DETAIL_ODEHEIGHTMAP_HPP_
+#define DART_COLLISION_ODE_DETAIL_ODEHEIGHTMAP_HPP_
+
+#include <dart/collision/ode/detail/OdeGeom.hpp>
+
+#include <dart/dynamics/HeightmapShape.hpp>
+
+#include <ode/ode.h>
+
+namespace dart {
+namespace collision {
+namespace detail {
+
+template <typename S>
+class OdeHeightmap : public OdeGeom
+{
+public:
+  /// Constructor
+  OdeHeightmap(
+      const OdeCollisionObject* parent, const dynamics::HeightmapShape<S>* hs);
+
+  /// Destructor
+  ~OdeHeightmap() override;
+
+private:
+  dHeightfieldDataID mOdeHeightfieldId;
+};
+
+using OdeHeightmapf = OdeHeightmap<float>;
+using OdeHeightmapd = OdeHeightmap<double>;
+
+} // namespace detail
+} // namespace collision
+} // namespace dart
+
+#include <dart/collision/ode/detail/OdeHeightmap-impl.hpp>
+
+#endif // DART_COLLISION_ODE_DETAIL_ODEHEIGHTMAP_HPP_

include/dart/collision/ode/detail/OdeMesh.hpp

@@ -0,0 +1,83 @@
+/*
+ * 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_ODE_DETAIL_ODEMESH_HPP_
+#define DART_COLLISION_ODE_DETAIL_ODEMESH_HPP_
+
+#include <dart/collision/ode/detail/OdeGeom.hpp>
+
+#include <assimp/scene.h>
+#include <ode/ode.h>
+
+namespace dart {
+namespace collision {
+namespace detail {
+
+class OdeMesh : public OdeGeom
+{
+public:
+  /// Constructor
+  OdeMesh(
+      const OdeCollisionObject* parent,
+      const aiScene* scene,
+      const Eigen::Vector3d& scale = Eigen::Vector3d::Ones());
+
+  /// Destructor
+  virtual ~OdeMesh();
+
+  // Documentation inherited
+  void updateEngineData() override;
+
+private:
+  void fillArrays(
+      const aiScene* scene,
+      const Eigen::Vector3d& scale = Eigen::Vector3d::Ones());
+
+private:
+  /// Array of vertex values.
+  std::vector<double> mVertices;
+
+  /// Array of normals values.
+  std::vector<double> mNormals;
+
+  /// Array of index values.
+  std::vector<int> mIndices;
+
+  /// ODE trimesh data.
+  dTriMeshDataID mOdeTriMeshDataId;
+};
+
+} // namespace detail
+} // namespace collision
+} // namespace dart
+
+#endif // DART_COLLISION_ODE_DETAIL_ODEMESH_HPP_

include/dart/collision/ode/detail/OdePlane.hpp

@@ -0,0 +1,67 @@
+/*
+ * 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_ODE_DETAIL_ODEPLANE_HPP_
+#define DART_COLLISION_ODE_DETAIL_ODEPLANE_HPP_
+
+#include <dart/collision/ode/detail/OdeGeom.hpp>
+
+#include <ode/ode.h>
+
+namespace dart {
+namespace collision {
+namespace detail {
+
+class OdePlane : public OdeGeom
+{
+public:
+  /// Constructor
+  OdePlane(
+      const OdeCollisionObject* parent,
+      const Eigen::Vector3d& normal,
+      double offset);
+
+  /// Destructor
+  virtual ~OdePlane();
+
+  // Documentation inherited.
+  void updateEngineData() override;
+
+  // Documentation inherited.
+  bool isPlaceable() const override;
+};
+
+} // namespace detail
+} // namespace collision
+} // namespace dart
+
+#endif // DART_COLLISION_ODE_DETAIL_ODEPLANE_HPP_