DcdCollision.h
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1 // This file is a part of the OpenSurgSim project.
2 // Copyright 2013, 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_PHYSICS_DCDCOLLISION_H
17 #define SURGSIM_PHYSICS_DCDCOLLISION_H
18 
19 #include <memory>
20 
22 #include "SurgSim/Math/Shape.h"
24 
25 namespace SurgSim
26 {
27 
28 namespace Collision
29 {
30 class ContactCalculation;
31 }
32 
33 namespace Physics
34 {
35 class PhysicsManagerState;
36 
45 class DcdCollision : public Computation
46 {
47 public:
48 
51  explicit DcdCollision(bool doCopyState = false);
52 
54 
56  virtual ~DcdCollision();
57 
58 protected:
59 
63  std::shared_ptr<PhysicsManagerState> doUpdate(const double& dt, const std::shared_ptr<PhysicsManagerState>& state)
64  override;
65 };
66 
67 }; // Physics
68 }; // SurgSim
69 
70 #endif
Shape.h
Computation.h
Macros.h
SurgSim::Physics::DcdCollision::~DcdCollision
virtual ~DcdCollision()
Destructor.
Definition: DcdCollision.cpp:43
SurgSim::Physics::DcdCollision::doUpdate
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:47
SurgSim
Definition: CompoundShapeToGraphics.cpp:29
SurgSim::Physics::DcdCollision
Computation to determine the contacts between a list of CollisionPairs.
Definition: DcdCollision.h:45
SurgSim::Physics::DcdCollision::DcdCollision
DcdCollision(bool doCopyState=false)
Constructor.
Definition: DcdCollision.cpp:38
SurgSim::Physics::DcdCollision::SURGSIM_CLASSNAME
SURGSIM_CLASSNAME(SurgSim::Physics::DcdCollision)
SurgSim::Physics::Computation
Encapsulates a calculation over a selection of objects, needs to be subclassed to be used.
Definition: Computation.h:32