CapsuleSphereContact.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_CAPSULESPHERECONTACT_H
17 #define SURGSIM_COLLISION_CAPSULESPHERECONTACT_H
18 
19 #include <memory>
20 
24 
25 namespace SurgSim
26 {
27 namespace Collision
28 {
29 
30 class CollisionPair;
31 
33 class CapsuleSphereContact : public ShapeShapeContactCalculation<Math::CapsuleShape, Math::SphereShape>
34 {
35 public:
37 
38  std::list<std::shared_ptr<Contact>> calculateDcdContact(
39  const Math::CapsuleShape& capsule,
40  const Math::RigidTransform3d& capsulePose,
41  const Math::SphereShape& sphere,
42  const Math::RigidTransform3d& spherePose) const override;
43 
44  std::pair<int, int> getShapeTypes() override;
45 };
46 
47 }; // namespace Collision
48 }; // namespace SurgSim
49 
50 #endif
SurgSim::Math::CapsuleShape
Capsule shape: centered on (0, 0, 0), aligned along Y, with length and radius.
Definition: CapsuleShape.h:32
SurgSim::Collision::CapsuleSphereContact::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
ShapeShapeContactCalculation.h
SurgSim::Math::RigidTransform3d
Eigen::Transform< double, 3, Eigen::Isometry > RigidTransform3d
A 3D rigid (isometric) transform, represented as doubles.
Definition: RigidTransform.h:46
SurgSim::Collision::CapsuleSphereContact
Class to calculate intersections between a capsule and a sphere.
Definition: CapsuleSphereContact.h:34
SurgSim
Definition: CompoundShapeToGraphics.cpp:30
SurgSim::Collision::CapsuleSphereContact::getShapeTypes
std::pair< int, int > getShapeTypes() override
Virtual function that returns the shapes that this ContactCalculation class handles.
Definition: CapsuleSphereContact.cpp:34
SurgSim::Math::SphereShape
Sphere shape: sphere centered on (0 0 0), defined with radius.
Definition: SphereShape.h:31
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
SphereShape.h
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