16 #ifndef SURGSIM_PHYSICS_DEFORMABLECOLLISIONREPRESENTATION_H
17 #define SURGSIM_PHYSICS_DEFORMABLECOLLISIONREPRESENTATION_H
27 namespace DataStructures
40 class DeformableRepresentation;
64 void setMesh(std::shared_ptr<SurgSim::DataStructures::TriangleMesh> mesh);
67 std::shared_ptr<SurgSim::DataStructures::TriangleMesh>
getMesh()
const;
72 void setShape(std::shared_ptr<SurgSim::Math::Shape> shape);
74 virtual const std::shared_ptr<SurgSim::Math::Shape>
getShape()
const override;
85 virtual void update(
const double& dt)
override;
92 std::shared_ptr<SurgSim::Math::MeshShape>
m_shape;
95 std::shared_ptr<SurgSim::DataStructures::TriangleMesh>
m_mesh;
98 std::weak_ptr<SurgSim::Physics::DeformableRepresentation>
m_deformable;
Definition: DriveElementFromInputBehavior.cpp:27
Wrapper class to use for the collision operation, handles its enclosed shaped and a possible local to...
Definition: Representation.h:52
SURGSIM_STATIC_REGISTRATION(DeformableCollisionRepresentation)