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SurgSim
Collision
ContactCalculation.h
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// This file is a part of the OpenSurgSim project.
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// Copyright 2013, SimQuest Solutions Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef SURGSIM_COLLISION_CONTACTCALCULATION_H
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#define SURGSIM_COLLISION_CONTACTCALCULATION_H
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#include <memory>
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#include "
SurgSim/Collision/CollisionPair.h
"
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namespace
SurgSim
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{
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namespace
Collision
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{
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class
ContactCalculation
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{
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public
:
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ContactCalculation
();
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virtual
~ContactCalculation
();
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void
calculateContact
(std::shared_ptr<CollisionPair> pair);
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virtual
std::pair<int,int>
getShapeTypes
() = 0;
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private
:
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virtual
void
doCalculateContact
(std::shared_ptr<CollisionPair> pair) = 0;
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};
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};
// namespace Collision
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};
// namespace SurgSim
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#endif
SurgSim
Definition:
DriveElementFromInputBehavior.cpp:27
SurgSim::Collision::ContactCalculation::getShapeTypes
virtual std::pair< int, int > getShapeTypes()=0
Virtual function that returns the shapes that this ContactCalculation class handles.
SurgSim::Collision::ContactCalculation
Base class responsible for calculating contact data between two given shapes, calculateContact needs ...
Definition:
ContactCalculation.h:35
SurgSim::Collision::ContactCalculation::calculateContact
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
SurgSim::Collision::ContactCalculation::doCalculateContact
virtual void doCalculateContact(std::shared_ptr< CollisionPair > pair)=0
Calculate the actual contact between two shapes of the given CollisionPair.
SurgSim::Collision::ContactCalculation::ContactCalculation
ContactCalculation()
Constructor.
Definition:
ContactCalculation.cpp:26
SurgSim::Collision::ContactCalculation::~ContactCalculation
virtual ~ContactCalculation()
Destructor.
Definition:
ContactCalculation.cpp:30
CollisionPair.h
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