PrepareCollisionPairs.h
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1 // This file is a part of the OpenSurgSim project.
2 // Copyright 2013, 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 //
10 // Unless required by applicable law or agreed to in writing, software
11 // distributed under the License is distributed on an "AS IS" BASIS,
12 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 // See the License for the specific language governing permissions and
14 // limitations under the License.
15 
16 #ifndef SURGSIM_PHYSICS_PREPARECOLLISIONPAIRS_H
17 #define SURGSIM_PHYSICS_PREPARECOLLISIONPAIRS_H
18 
19 #include <memory>
20 
23 
24 namespace SurgSim
25 {
26 
27 namespace Collision
28 {
29 class ContactCalculation;
30 }
31 
32 namespace Framework
33 {
34 class Logger;
35 }
36 
37 namespace Physics
38 {
39 class PhysicsManagerState;
40 
50 {
51 public:
54  explicit PrepareCollisionPairs(bool doCopyState = false);
55 
57 
59  virtual ~PrepareCollisionPairs();
60 
61 protected:
62  std::shared_ptr<PhysicsManagerState> doUpdate(const double& dt, const std::shared_ptr<PhysicsManagerState>& state)
63  override;
64 
65 private:
68 
70  std::shared_ptr<Framework::Logger> m_logger;
71 };
72 
73 }; // Physics
74 }; // SurgSim
75 
76 #endif // SURGSIM_PHYSICS_PREPARECOLLISIONPAIRS_H
Computation.h
Macros.h
SurgSim::Physics::PrepareCollisionPairs::~PrepareCollisionPairs
virtual ~PrepareCollisionPairs()
Destructor.
Definition: PrepareCollisionPairs.cpp:37
SurgSim::Physics::PrepareCollisionPairs::SURGSIM_CLASSNAME
SURGSIM_CLASSNAME(SurgSim::Physics::PrepareCollisionPairs)
SurgSim::Physics::PrepareCollisionPairs::m_logger
std::shared_ptr< Framework::Logger > m_logger
The logger.
Definition: PrepareCollisionPairs.h:70
SurgSim
Definition: CompoundShapeToGraphics.cpp:30
SurgSim::Physics::PrepareCollisionPairs
Computation to determine the contacts between a list of CollisionPairs.
Definition: PrepareCollisionPairs.h:50
SurgSim::Physics::PrepareCollisionPairs::doUpdate
std::shared_ptr< PhysicsManagerState > doUpdate(const double &dt, const std::shared_ptr< PhysicsManagerState > &state) override
Override this function to implement the computations specific behavior.
Definition: PrepareCollisionPairs.cpp:41
SurgSim::Physics::PrepareCollisionPairs::m_timeSinceLog
double m_timeSinceLog
The time since the collision pairs were last logged.
Definition: PrepareCollisionPairs.h:67
SurgSim::Physics::PrepareCollisionPairs::PrepareCollisionPairs
PrepareCollisionPairs(bool doCopyState=false)
Constructor.
Definition: PrepareCollisionPairs.cpp:30
SurgSim::Physics::Computation
Encapsulates a calculation over a selection of objects, needs to be subclassed to be used.
Definition: Computation.h:33