CcdCollision.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 //
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_CCDCOLLISION_H
17 #define SURGSIM_PHYSICS_CCDCOLLISION_H
18 
19 #include <memory>
20 
21 #include "SurgSim/Math/Shape.h"
23 
24 namespace SurgSim
25 {
26 
27 namespace Collision
28 {
29 class ContactCalculation;
30 }
31 
32 namespace Physics
33 {
34 class PhysicsManagerState;
35 
44 class CcdCollision : public Computation
45 {
46 public:
47 
50  explicit CcdCollision(bool doCopyState = false);
51 
53 
55  virtual ~CcdCollision();
56 
57 protected:
58 
62  std::shared_ptr<PhysicsManagerState> doUpdate(const double& dt, const std::shared_ptr<PhysicsManagerState>& state)
63  override;
64 };
65 
66 }; // Physics
67 }; // SurgSim
68 
69 #endif // SURGSIM_PHYSICS_CCDCOLLISION_H
Shape.h
SurgSim::Physics::CcdCollision::~CcdCollision
virtual ~CcdCollision()
Destructor.
Definition: CcdCollision.cpp:43
Computation.h
SurgSim::Physics::CcdCollision::SURGSIM_CLASSNAME
SURGSIM_CLASSNAME(SurgSim::Physics::CcdCollision)
SurgSim::Physics::CcdCollision::CcdCollision
CcdCollision(bool doCopyState=false)
Constructor.
Definition: CcdCollision.cpp:38
SurgSim::Physics::CcdCollision
Computation to determine the contacts between a list of CollisionPairs.
Definition: CcdCollision.h:45
SurgSim
Definition: CompoundShapeToGraphics.cpp:30
SurgSim::Physics::CcdCollision::doUpdate
std::shared_ptr< PhysicsManagerState > doUpdate(const double &dt, const std::shared_ptr< PhysicsManagerState > &state) override
Executes the update operation, overridden from Computation.
Definition: CcdCollision.cpp:47
SurgSim::Physics::Computation
Encapsulates a calculation over a selection of objects, needs to be subclassed to be used.
Definition: Computation.h:33