BoxCapsuleContact.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_BOXCAPSULECONTACT_H
17 #define SURGSIM_COLLISION_BOXCAPSULECONTACT_H
18 
19 #include <memory>
20 
22 #include "SurgSim/Math/BoxShape.h"
25 
26 namespace SurgSim
27 {
28 namespace Collision
29 {
30 
32 class BoxCapsuleContact : public ShapeShapeContactCalculation<Math::BoxShape, Math::CapsuleShape>
33 {
34 public:
36 
37  std::list<std::shared_ptr<Contact>> calculateDcdContact(
38  const SurgSim::Math::BoxShape& boxShape,
39  const SurgSim::Math::RigidTransform3d& boxPose,
40  const SurgSim::Math::CapsuleShape& capsuleShape,
41  const SurgSim::Math::RigidTransform3d& capsulePose) const override;
42 
43  std::pair<int, int> getShapeTypes() override;
44 };
45 
46 }; // namespace Collision
47 }; // namespace SurgSim
48 
49 #endif
SurgSim::Math::CapsuleShape
Capsule shape: centered on (0, 0, 0), aligned along Y, with length and radius.
Definition: CapsuleShape.h:32
ShapeShapeContactCalculation.h
BoxShape.h
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:30
SurgSim::Collision::BoxCapsuleContact::getShapeTypes
std::pair< int, int > getShapeTypes() override
Virtual function that returns the shapes that this ContactCalculation class handles.
Definition: BoxCapsuleContact.cpp:65
RigidTransform.h
Definitions of 2x2 and 3x3 rigid (isometric) transforms.
SurgSim::Collision::BoxCapsuleContact
Class to calculate intersections between Boxes and Capsules.
Definition: BoxCapsuleContact.h:33
SurgSim::Collision::BoxCapsuleContact::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::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:34
CapsuleShape.h
SurgSim::Collision::ShapeShapeContactCalculation
Class that can automate the type conversion and provides a consistent interface to the typed call Tak...
Definition: ShapeShapeContactCalculation.h:32