SurgSim::Collision::TriangleMeshParticlesContact Class Reference

Class to calculate intersections between a triangle mesh and particles. More...

`#include <SurgSim/Collision/TriangleMeshParticlesContact.h>`

Inheritance diagram for SurgSim::Collision::TriangleMeshParticlesContact:

## Public Member Functions

std::list< std::shared_ptr< Contact > > | calculateDcdContact (const Math::MeshShape &mesh, const Math::RigidTransform3d &, const Math::ParticlesShape &particles, const Math::RigidTransform3d &) const override
std::pair< int, int > | getShapeTypes () override
| Virtual function that returns the shapes that this ContactCalculation class handles. More...
Public Member Functions inherited from SurgSim::Collision::ContactCalculation
| ContactCalculation ()
| Constructor. More...
virtual | ~ContactCalculation ()
| Destructor. More...
void | calculateContact (std::shared_ptr< CollisionPair > pair)
| Calculate the contacts for a given pair. More...
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. More...
std::list< std::shared_ptr< Contact > > | calculateCcdContact (const Math::PosedShapeMotion< std::shared_ptr< Math::Shape >> posedShapeMotion1, const Math::PosedShapeMotion< std::shared_ptr< Math::Shape >> posedShapeMotion2)
| Calculate the ccd contacts between two posed/transformed shapes. More...

## Additional Inherited Members

Public Types inherited from SurgSim::Collision::ContactCalculation
typedef std::array< std::array< std::shared_ptr< ContactCalculation >, Math::SHAPE_TYPE_COUNT >, Math::SHAPE_TYPE_COUNT > | TableType
Static Public Member Functions inherited from SurgSim::Collision::ContactCalculation
static void | registerDcdContactCalculation (const std::shared_ptr< ContactCalculation > &calculation)
| Register an instance of a contact calculation in the table. More...
static void | registerCcdContactCalculation (const std::shared_ptr< ContactCalculation > &calculation)
| Register an instance of a contact calculation in the table. More...
static const TableType & | getDcdContactTable ()
static const TableType & | getCcdContactTable ()

## Detailed Description

Class to calculate intersections between a triangle mesh and particles.

## Member Function Documentation

## calculateDcdContact()

std::list< std::shared_ptr< Contact > > SurgSim::Collision::TriangleMeshParticlesContact::calculateDcdContact | ( | const Math::MeshShape & | mesh,
|  | const Math::RigidTransform3d & | ,
|  | const Math::ParticlesShape & | particles,
|  | const Math::RigidTransform3d & |
| ) |  | const

override virtual

Note
  poses are ignored for this calculation

Reimplemented from SurgSim::Collision::ShapeShapeContactCalculation< Math::MeshShape, Math::ParticlesShape >.

## getShapeTypes()

std::pair< int, int > SurgSim::Collision::TriangleMeshParticlesContact::getShapeTypes | ( |  | ) |

override virtual

Virtual function that returns the shapes that this ContactCalculation class handles.

Returns
  Return the shape types this class handles.

Implements SurgSim::Collision::ContactCalculation.

The documentation for this class was generated from the following files:

- SurgSim/Collision/TriangleMeshParticlesContact.h
- SurgSim/Collision/TriangleMeshParticlesContact.cpp