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#include <SurgSim/Collision/CompoundShapeContact.h>
Public Member Functions | |
CompoundShapeContact (const std::pair< int, int > &types) | |
Constructor. More... | |
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ContactCalculation () | |
Constructor. More... | |
virtual | ~ContactCalculation () |
Destructor. More... | |
void | calculateContact (std::shared_ptr< CollisionPair > pair) |
Calculate the contacts for a given pair. More... | |
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. More... | |
std::list< std::shared_ptr< Contact > > | calculateCcdContact (const Math::PosedShapeMotion< std::shared_ptr< Math::Shape >> posedShapeMotion1, const Math::PosedShapeMotion< std::shared_ptr< Math::Shape >> posedShapeMotion2) |
Calculate the ccd contacts between two posed/transformed shapes. More... | |
Protected Member Functions | |
std::pair< int, int > | getShapeTypes () override |
Virtual function that returns the shapes that this ContactCalculation class handles. More... | |
std::list< std::shared_ptr< Contact > > | doCalculateDcdContact (const Math::PosedShape< std::shared_ptr< Math::Shape >> &posedShape1, const Math::PosedShape< std::shared_ptr< Math::Shape >> &posedShape2) override |
Virtual function receives the call from the public interface, usually will type the shapes statically to their known types and then execute a specific contact calculation between the two shapes. More... | |
std::list< std::shared_ptr< SurgSim::Collision::Contact > > | doCalculateCcdContact (const Math::PosedShapeMotion< std::shared_ptr< Math::Shape >> &shape1, const Math::PosedShapeMotion< std::shared_ptr< Math::Shape >> &shape2) override |
Virtual function receives the call from the public interface, usually will type the shapes statically to their known types and then execute a specific contact calculation between the two shapes. More... | |
Protected Attributes | |
std::pair< int, int > | m_types |
Local shape types for this instance, these can be set to match the expected shapes. More... | |
Additional Inherited Members | |
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typedef std::array< std::array< std::shared_ptr< ContactCalculation >, Math::SHAPE_TYPE_COUNT >, Math::SHAPE_TYPE_COUNT > | TableType |
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static void | registerDcdContactCalculation (const std::shared_ptr< ContactCalculation > &calculation) |
Register an instance of a contact calculation in the table. More... | |
static void | registerCcdContactCalculation (const std::shared_ptr< ContactCalculation > &calculation) |
Register an instance of a contact calculation in the table. More... | |
static const TableType & | getDcdContactTable () |
static const TableType & | getCcdContactTable () |
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explicit |
Constructor.
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overrideprotectedvirtual |
Virtual function receives the call from the public interface, usually will type the shapes statically to their known types and then execute a specific contact calculation between the two shapes.
posedShapeMotion1,posedShapeMotion2 | The two posed shapes motion to calculate ccd contact for |
Reimplemented from SurgSim::Collision::ContactCalculation.
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overrideprotectedvirtual |
Virtual function receives the call from the public interface, usually will type the shapes statically to their known types and then execute a specific contact calculation between the two shapes.
posedShape1,posedShape2 | The two posed shapes to calculate dcd contact for |
Reimplemented from SurgSim::Collision::ContactCalculation.
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overrideprotectedvirtual |
Virtual function that returns the shapes that this ContactCalculation class handles.
Implements SurgSim::Collision::ContactCalculation.
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protected |
Local shape types for this instance, these can be set to match the expected shapes.