OctreeCapsuleContact.h
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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_OCTREECAPSULECONTACT_H
17 #define SURGSIM_COLLISION_OCTREECAPSULECONTACT_H
18 
21 
22 namespace SurgSim
23 {
24 namespace Collision
25 {
26 
28 {
29 public:
30  std::pair<int, int> getShapeTypes() override;
31 
32 protected:
33  std::list<std::shared_ptr<Contact>> boxContactCalculation(const SurgSim::Math::BoxShape& boxShape,
34  const SurgSim::Math::RigidTransform3d& boxPose, const SurgSim::Math::Shape& otherShape,
35  const SurgSim::Math::RigidTransform3d& otherPose) override;
36 
37 private:
39 };
40 
41 };
42 };
43 
44 #endif //SURGSIM_COLLISION_OCTREECAPSULECONTACT_H
Definition: CompoundShapeToGraphics.cpp:29
Box shape: box centered on (0 0 0), aligned with the axis with different sizes along X...
Definition: BoxShape.h:33
Abstract base class to calculate intersections between an Octree and other shapes.
Definition: OctreeContact.h:38
std::pair< int, int > getShapeTypes() override
Virtual function that returns the shapes that this ContactCalculation class handles.
Definition: OctreeCapsuleContact.cpp:26
Class to calculate intersections between Boxes and Capsules.
Definition: BoxCapsuleContact.h:32
Definition: OctreeCapsuleContact.h:27
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 > > boxContactCalculation(const SurgSim::Math::BoxShape &boxShape, const SurgSim::Math::RigidTransform3d &boxPose, const SurgSim::Math::Shape &otherShape, const SurgSim::Math::RigidTransform3d &otherPose) override
Do the calculation between an octree node (BoxShape) and the other shape.
Definition: OctreeCapsuleContact.cpp:31
Generic rigid shape class defining a shape.
Definition: Shape.h:65
BoxCapsuleContact m_calculator
Definition: OctreeCapsuleContact.h:38