TriangleMeshParticlesContact.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_TRIANGLEMESHPARTICLESCONTACT_H
17 #define SURGSIM_COLLISION_TRIANGLEMESHPARTICLESCONTACT_H
18 
19 #include <memory>
20 
22 #include "SurgSim/Math/MeshShape.h"
24 
25 
26 namespace SurgSim
27 {
28 namespace Collision
29 {
30 
31 class CollisionPair;
32 
34 class TriangleMeshParticlesContact : public ShapeShapeContactCalculation<Math::MeshShape, Math::ParticlesShape>
35 {
36 public:
38 
40  std::list<std::shared_ptr<Contact>> calculateDcdContact(
41  const Math::MeshShape& mesh,
43  const Math::ParticlesShape& particles,
44  const Math::RigidTransform3d&) const override;
45 
46  std::pair<int, int> getShapeTypes() override;
47 
48 };
49 
50 }; // namespace Collision
51 }; // namespace SurgSim
52 
53 #endif // SURGSIM_COLLISION_TRIANGLEMESHPARTICLESCONTACT_H
ShapeShapeContactCalculation.h
SurgSim::Math::ParticlesShape
Particles Shape: A shape consisting of a group of particles of equal radius.
Definition: ParticlesShape.h:42
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::Collision::TriangleMeshParticlesContact::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
ParticlesShape.h
SurgSim::Collision::TriangleMeshParticlesContact::getShapeTypes
std::pair< int, int > getShapeTypes() override
Virtual function that returns the shapes that this ContactCalculation class handles.
Definition: TriangleMeshParticlesContact.cpp:39
SurgSim::Collision::TriangleMeshParticlesContact
Class to calculate intersections between a triangle mesh and particles.
Definition: TriangleMeshParticlesContact.h:35
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::ShapeShapeContactCalculation
Class that can automate the type conversion and provides a consistent interface to the typed call Tak...
Definition: ShapeShapeContactCalculation.h:32