16 #ifndef SURGSIM_PHYSICS_DEFORMABLECOLLISIONREPRESENTATION_H 17 #define SURGSIM_PHYSICS_DEFORMABLECOLLISIONREPRESENTATION_H 35 class DeformableRepresentation;
37 SURGSIM_STATIC_REGISTRATION(DeformableCollisionRepresentation);
58 void setShape(std::shared_ptr<SurgSim::Math::Shape> shape);
60 const std::shared_ptr<SurgSim::Math::Shape> getShape()
const override;
64 void setDeformableRepresentation(std::shared_ptr<SurgSim::Physics::DeformableRepresentation> representation);
67 const std::shared_ptr<SurgSim::Physics::DeformableRepresentation> getDeformableRepresentation()
const;
69 int getShapeType()
const override;
71 void updateDcdData()
override;
73 void updateCcdData(
double interval)
override;
75 void updateShapeData()
override;
78 bool doInitialize()
override;
79 bool doWakeUp()
override;
82 std::shared_ptr<SurgSim::Math::Shape>
m_shape, m_previousShape;
85 std::weak_ptr<SurgSim::Physics::DeformableRepresentation>
m_deformable;
Definition: CompoundShapeToGraphics.cpp:29
#define SURGSIM_CLASSNAME(ClassName)
Declare the class name of a class with the appropriate function header, do not use quotes...
Definition: Macros.h:21
The type of collision detection.
Definition: Representation.h:60