Automatically update CollisionGroups

CHANGELOG.md

@@ -2,6 +2,10 @@
 
 ### DART 6.7.0 (201X-XX-XX)
 
+* Collision Detection
+
+  * CollisionGroups will automatically update their objects when any changes occur to Skeletons or BodyNodes that they are subscribed to : [#1112](https://github.com/dartsim/dart/pull/1112)
+
 * Math
 
   * Consolidated random functions into Random class : [#1109](https://github.com/dartsim/dart/pull/1109)

dart/collision/CollisionDetector.cpp

@@ -159,7 +159,7 @@ CollisionDetector::ManagerForSharableCollisionObjects::claimCollisionObject(
   {
     const auto& collObj = search->second;
     assert(collObj.lock());
-    // Ensure all the collision object in the map should be alive pointers.
+    // Ensure all the collision objects in the map are valid pointers
 
     return collObj.lock();
   }

dart/collision/CollisionDetector.hpp

@@ -174,6 +174,9 @@ class CollisionDetector : public std::enable_shared_from_this<CollisionDetector>
   virtual std::unique_ptr<CollisionObject> createCollisionObject(
       const dynamics::ShapeFrame* shapeFrame) = 0;
 
+  /// Update the collision geometry of a ShapeFrame
+  virtual void refreshCollisionObject(CollisionObject* object) = 0;
+
   /// Notify that a CollisionObject is destroying. Do nothing by default.
   virtual void notifyCollisionObjectDestroying(CollisionObject* object);
 
@@ -199,6 +202,9 @@ class CollisionDetector::CollisionObjectManager
   /// Returns collision detector
   CollisionDetector* getCollisionDetector();
 
+  /// Virtual destructor
+  virtual ~CollisionObjectManager() = default;
+
 protected:
 
   CollisionDetector* mCollisionDetector;