TriangleMeshTriangleMeshContact.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.
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15 
16 #ifndef SURGSIM_COLLISION_TRIANGLEMESHTRIANGLEMESHCONTACT_H
17 #define SURGSIM_COLLISION_TRIANGLEMESHTRIANGLEMESHCONTACT_H
18 
19 #include <memory>
20 
22 #include "SurgSim/Math/MeshShape.h"
23 
24 
25 namespace SurgSim
26 {
27 namespace Collision
28 {
29 
30 class CollisionPair;
31 
33 class TriangleMeshTriangleMeshContact : public ShapeShapeContactCalculation<Math::MeshShape, Math::MeshShape>
34 {
35 public:
37 
39  std::list<std::shared_ptr<Contact>> calculateDcdContact(
40  const Math::MeshShape& mesh1,
41  const Math::RigidTransform3d& mesh1Pose,
42  const Math::MeshShape& mesh2,
43  const Math::RigidTransform3d& mesh2Pose) const override;
44 
45  std::pair<int, int> getShapeTypes() override;
46 
47 };
48 
49 }; // namespace Collision
50 }; // namespace SurgSim
51 
52 #endif // SURGSIM_COLLISION_TRIANGLEMESHTRIANGLEMESHCONTACT_H
SurgSim::Collision::TriangleMeshTriangleMeshContact::getShapeTypes
std::pair< int, int > getShapeTypes() override
Virtual function that returns the shapes that this ContactCalculation class handles.
Definition: TriangleMeshTriangleMeshContact.cpp:39
ShapeShapeContactCalculation.h
SurgSim::Collision::TriangleMeshTriangleMeshContact
Class to calculate intersections between a triangle mesh and a triangle mesh.
Definition: TriangleMeshTriangleMeshContact.h:34
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
MeshShape.h
SurgSim::Math::MeshShape
Mesh shape: shape made of a triangle mesh The triangle mesh needs to be watertight to produce valid v...
Definition: MeshShape.h:56
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::Collision::TriangleMeshTriangleMeshContact::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::ShapeShapeContactCalculation
Class that can automate the type conversion and provides a consistent interface to the typed call Tak...
Definition: ShapeShapeContactCalculation.h:32