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16 #ifndef SURGSIM_COLLISION_OCTREECONTACT_H
17 #define SURGSIM_COLLISION_OCTREECONTACT_H
32 class ShapeCollisionRepresentation;
69 std::shared_ptr<const SurgSim::Math::OctreeShape::NodeType> node,
71 const std::shared_ptr<Math::Shape>& shape,
74 std::list<std::shared_ptr<Contact>>* result);
84 std::unordered_map<SurgSim::Math::Vector3d, std::shared_ptr<SurgSim::Math::BoxShape>,
Vector3dHash>
m_shapes;
90 #endif // SURGSIM_COLLISION_OCTREECONTACT_H
Eigen::Transform< double, 3, Eigen::Isometry > RigidTransform3d
A 3D rigid (isometric) transform, represented as doubles.
Definition: RigidTransform.h:46
PosedShape is a transformed shape with a record of the pose used to transform it.
Definition: Shape.h:118
Eigen::Matrix< double, 3, 1 > Vector3d
A 3D vector of doubles.
Definition: Vector.h:57
Definition: CompoundShapeToGraphics.cpp:30
std::vector< size_t > OctreePath
Typedef of octree path The path is a vector of children indexes (each within 0 to 7) that lead to the...
Definition: OctreeNode.h:43
Generic rigid shape class defining a shape.
Definition: Shape.h:66
Box shape: box centered on (0 0 0), aligned with the axis with different sizes along X,...
Definition: BoxShape.h:34