SpherePlaneContact.h
Go to the documentation of this file.
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
14 // limitations under the License.
15 
16 #ifndef SURGSIM_COLLISION_SPHEREPLANECONTACT_H
17 #define SURGSIM_COLLISION_SPHEREPLANECONTACT_H
18 
19 #include <memory>
20 
24 
25 namespace SurgSim
26 {
27 namespace Collision
28 {
29 
30 class CollisionPair;
31 
33 class SpherePlaneContact : public ShapeShapeContactCalculation<Math::SphereShape, Math::PlaneShape>
34 {
35 public:
37 
38  std::list<std::shared_ptr<Contact>> calculateDcdContact(
39  const Math::SphereShape& sphere,
40  const Math::RigidTransform3d& spherePose,
41  const Math::PlaneShape& plane,
42  const Math::RigidTransform3d& planePose) const override;
43 
44  std::pair<int, int> getShapeTypes() override;
45 };
46 
47 }; // namespace Collision
48 }; // namespace SurgSim
49 
50 #endif
Class to calculate intersections between Spheres and Planes.
Definition: SpherePlaneContact.h:33
std::pair< int, int > getShapeTypes() override
Virtual function that returns the shapes that this ContactCalculation class handles.
Definition: SpherePlaneContact.cpp:72
Definition: CompoundShapeToGraphics.cpp:29
std::list< std::shared_ptr< Contact > > calculateDcdContact(const Math::PosedShape< std::shared_ptr< Math::Shape >> posedShape1, const Math::PosedShape< std::shared_ptr< Math::Shape >> posedShape2)
Calculate the dcd contacts between two posed/transformed shapes.
Definition: ContactCalculation.cpp:74
Class that can automate the type conversion and provides a consistent interface to the typed call Tak...
Definition: ShapeShapeContactCalculation.h:31
Sphere shape: sphere centered on (0 0 0), defined with radius.
Definition: SphereShape.h:30
Eigen::Transform< double, 3, Eigen::Isometry > RigidTransform3d
A 3D rigid (isometric) transform, represented as doubles.
Definition: RigidTransform.h:46
std::list< std::shared_ptr< Contact > > calculateDcdContact(const Math::SphereShape &sphere, const Math::RigidTransform3d &spherePose, const Math::PlaneShape &plane, const Math::RigidTransform3d &planePose) const override
Virtual function to be overridden, this provides the typed contact calculation between two shapes it ...
Definition: SpherePlaneContact.cpp:35
The XZ plane (d = 0) with normal pointing along positive Y axis.
Definition: PlaneShape.h:36