16 #ifndef SURGSIM_PHYSICS_DCDCOLLISION_H
17 #define SURGSIM_PHYSICS_DCDCOLLISION_H
29 class ContactCalculation;
34 class PhysicsManagerState;
60 virtual std::shared_ptr<PhysicsManagerState>
doUpdate(
62 const std::shared_ptr<PhysicsManagerState>& state)
override;
70 void updatePairs(std::shared_ptr<PhysicsManagerState> state);
Definition: DriveElementFromInputBehavior.cpp:27
Computation to determine the contacts between a list of CollisionPairs.
Definition: DcdCollision.h:44
std::shared_ptr< SurgSim::Collision::ContactCalculation > m_contactCalculations[SurgSim::Math::SHAPE_TYPE_COUNT][SurgSim::Math::SHAPE_TYPE_COUNT]
Table containing contact calculation, the indices indicate the type of the first pair object and the ...
Definition: DcdCollision.h:78
DcdCollision(bool doCopyState=false)
Constructor.
Definition: DcdCollision.cpp:32
void updatePairs(std::shared_ptr< PhysicsManagerState > state)
Updates the collision pairs.
Definition: DcdCollision.cpp:102
void setDcdContactInTable(std::shared_ptr< SurgSim::Collision::ContactCalculation > dcdContact)
Function to populate the m_contactCalculations table for each DcdContact class.
Definition: DcdCollision.cpp:148
Encapsulates a calculation over a selection of objects, needs to be subclassed to be used...
Definition: Computation.h:30
virtual ~DcdCollision()
Destructor.
Definition: DcdCollision.cpp:37
void populateCalculationTable()
Initializes the table of ContactCalculation objects.
Definition: DcdCollision.cpp:70
virtual std::shared_ptr< PhysicsManagerState > doUpdate(const double &dt, const std::shared_ptr< PhysicsManagerState > &state) override
Executes the update operation, overridden from Computation.
Definition: DcdCollision.cpp:41