BoxSphereContact.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 //
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13 // See the License for the specific language governing permissions and
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15 
16 #ifndef SURGSIM_COLLISION_BOXSPHERECONTACT_H
17 #define SURGSIM_COLLISION_BOXSPHERECONTACT_H
18 
19 #include <memory>
20 
22 #include "SurgSim/Math/BoxShape.h"
25 
26 
27 namespace SurgSim
28 {
29 namespace Collision
30 {
31 
32 class CollisionPair;
33 
35 class BoxSphereContact : public ShapeShapeContactCalculation<Math::BoxShape, Math::SphereShape>
36 {
37 public:
38 
40 
41  std::list<std::shared_ptr<Contact>> calculateDcdContact(
42  const Math::BoxShape& boxShape,
43  const Math::RigidTransform3d& boxPose,
44  const Math::SphereShape& sphereShape,
45  const Math::RigidTransform3d& spherePose) const override;
46 
47  std::pair<int, int> getShapeTypes() override;
48 };
49 
50 }; // namespace Collision
51 }; // namespace SurgSim
52 
53 #endif
ShapeShapeContactCalculation.h
BoxShape.h
SurgSim::Collision::BoxSphereContact::calculateDcdContact
std::list< std::shared_ptr< Contact > > calculateDcdContact(const Math::BoxShape &boxShape, const Math::RigidTransform3d &boxPose, const Math::SphereShape &sphereShape, const Math::RigidTransform3d &spherePose) const override
Virtual function to be overridden, this provides the typed contact calculation between two shapes it ...
Definition: BoxSphereContact.cpp:40
SurgSim::Math::RigidTransform3d
Eigen::Transform< double, 3, Eigen::Isometry > RigidTransform3d
A 3D rigid (isometric) transform, represented as doubles.
Definition: RigidTransform.h:46
SurgSim
Definition: CompoundShapeToGraphics.cpp:29
SurgSim::Collision::BoxSphereContact::getShapeTypes
std::pair< int, int > getShapeTypes() override
Virtual function that returns the shapes that this ContactCalculation class handles.
Definition: BoxSphereContact.cpp:35
SurgSim::Collision::BoxSphereContact
Class to calculate intersections between a box and a sphere.
Definition: BoxSphereContact.h:35
RigidTransform.h
SurgSim::Math::SphereShape
Sphere shape: sphere centered on (0 0 0), defined with radius.
Definition: SphereShape.h:30
SurgSim::Collision::ContactCalculation::calculateDcdContact
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
SurgSim::Math::BoxShape
Box shape: box centered on (0 0 0), aligned with the axis with different sizes along X,...
Definition: BoxShape.h:33
SphereShape.h
SurgSim::Collision::ShapeShapeContactCalculation
Class that can automate the type conversion and provides a consistent interface to the typed call Tak...
Definition: ShapeShapeContactCalculation.h:31