CompoundShapeContact.h
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1 // This file is a part of the OpenSurgSim project.
2 // Copyright 2013-2015, SimQuest Solutions Inc.
3 //
4 // Licensed under the Apache License, Version 2.0 (the "License");
5 // you may not use this file except in compliance with the License.
6 // You may obtain a copy of the License at
7 //
8 // http://www.apache.org/licenses/LICENSE-2.0
9 //
10 // Unless required by applicable law or agreed to in writing, software
11 // distributed under the License is distributed on an "AS IS" BASIS,
12 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 // See the License for the specific language governing permissions and
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15 
16 #ifndef SURGSIM_COLLISION_COMPOUNDSHAPECONTACT_H
17 #define SURGSIM_COLLISION_COMPOUNDSHAPECONTACT_H
18 
20 
21 namespace SurgSim
22 {
23 
24 namespace Collision
25 {
26 
28 {
29 public:
31  explicit CompoundShapeContact(const std::pair<int, int>& types);
32 
33 protected:
34  std::pair<int, int> getShapeTypes() override;
35 
36  std::list<std::shared_ptr<Contact>> doCalculateDcdContact(
37  const Math::PosedShape<std::shared_ptr<Math::Shape>>& posedShape1,
38  const Math::PosedShape<std::shared_ptr<Math::Shape>>& posedShape2) override;
39 
40  std::list<std::shared_ptr<SurgSim::Collision::Contact>> doCalculateCcdContact(
41  const Math::PosedShapeMotion<std::shared_ptr<Math::Shape>>& shape1,
42  const Math::PosedShapeMotion<std::shared_ptr<Math::Shape>>& shape2) override;
43 
45  std::pair<int, int> m_types;
46 };
47 
48 }
49 }
50 
51 #endif
Definition: CompoundShapeToGraphics.cpp:29
Definition: CompoundShapeContact.h:27
std::list< std::shared_ptr< SurgSim::Collision::Contact > > doCalculateCcdContact(const Math::PosedShapeMotion< std::shared_ptr< Math::Shape >> &shape1, const Math::PosedShapeMotion< std::shared_ptr< Math::Shape >> &shape2) override
Virtual function receives the call from the public interface, usually will type the shapes statically...
Definition: CompoundShapeContact.cpp:79
std::list< std::shared_ptr< Contact > > doCalculateDcdContact(const Math::PosedShape< std::shared_ptr< Math::Shape >> &posedShape1, const Math::PosedShape< std::shared_ptr< Math::Shape >> &posedShape2) override
Virtual function receives the call from the public interface, usually will type the shapes statically...
Definition: CompoundShapeContact.cpp:38
Base class responsible for calculating contact data between two objects.
Definition: ContactCalculation.h:41
std::pair< int, int > getShapeTypes() override
Virtual function that returns the shapes that this ContactCalculation class handles.
Definition: CompoundShapeContact.cpp:33
PosedShape is a transformed shape with a record of the pose used to transform it. ...
Definition: Shape.h:117
CompoundShapeContact(const std::pair< int, int > &types)
Constructor.
Definition: CompoundShapeContact.cpp:28
PosedShapeMotion is embedding the motion of a PosedShape, providing a posed shape at 2 different inst...
Definition: Shape.h:145
std::pair< int, int > m_types
Local shape types for this instance, these can be set to match the expected shapes.
Definition: CompoundShapeContact.h:45