ContactCalculation.h
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1 // This file is a part of the OpenSurgSim project.
2 // Copyright 2013, 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
14 // limitations under the License.
15 
16 #ifndef SURGSIM_COLLISION_CONTACTCALCULATION_H
17 #define SURGSIM_COLLISION_CONTACTCALCULATION_H
18 
19 #include <memory>
20 
22 
23 
24 namespace SurgSim
25 {
26 namespace Collision
27 {
28 
36 {
37 public:
38 
41 
43  virtual ~ContactCalculation();
44 
47  void calculateContact(std::shared_ptr<CollisionPair> pair);
48 
51  virtual std::pair<int,int> getShapeTypes() = 0;
52 
53 private:
54 
57  virtual void doCalculateContact(std::shared_ptr<CollisionPair> pair) = 0;
58 
59 };
60 
61 }; // namespace Collision
62 }; // namespace SurgSim
63 
64 #endif
Definition: DriveElementFromInputBehavior.cpp:27
virtual std::pair< int, int > getShapeTypes()=0
Virtual function that returns the shapes that this ContactCalculation class handles.
Base class responsible for calculating contact data between two given shapes, calculateContact needs ...
Definition: ContactCalculation.h:35
void calculateContact(std::shared_ptr< CollisionPair > pair)
Function that handles asymmetric pair and calls the actual contact calculation routine of the sub cla...
Definition: ContactCalculation.cpp:34
virtual void doCalculateContact(std::shared_ptr< CollisionPair > pair)=0
Calculate the actual contact between two shapes of the given CollisionPair.
ContactCalculation()
Constructor.
Definition: ContactCalculation.cpp:26
virtual ~ContactCalculation()
Destructor.
Definition: ContactCalculation.cpp:30