SurgSim::Collision::ContactFilter Class Referenceabstract

Base class to implement a contact filter, the job of this class is to be executed by the ContactFiltering stage in the PhysicsManager. More...

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

Inheritance diagram for SurgSim::Collision::ContactFilter:

## Public Member Functions

| ContactFilter (const std::string &name)
| Constructor. More...
void | filterContacts (const std::shared_ptr< Physics::PhysicsManagerState > &state, const std::shared_ptr< CollisionPair > &pair)
| Base function to filter the contacts on a collision pair this will modify the 'contacts' in the collision pair. More...
void | update (double dt)
| Base function to update the internal data structures with regard to the filtering operation, this should only be called once per iteration. More...
Public Member Functions inherited from SurgSim::Framework::Component
| Component (const std::string &name)
| Constructor. More...
virtual | ~Component ()
| Destructor. More...
std::string | getName () const
| Gets component name. More...
std::string | getFullName () const
| Gets a string containing the name of the Component and (if it has one) its SceneElement. More...
void | setName (const std::string &name)
| Sets the name of component. More...
boost::uuids::uuid | getUuid () const
| Gets the id of the component. More...
bool | isInitialized () const
bool | initialize (const std::weak_ptr< Runtime > &runtime)
| Initialize this component, this needs to be called before wakeUp() can be called. More...
bool | isAwake () const
bool | wakeUp ()
| Wakeup this component, this will be called when the component is inserted into the ComponentManager that is responsible for handling this component. More...
void | retire ()
| Retire this component, this will be called when the component is removed from the ComponentManager that is responsible for handling this component. More...
void | setScene (std::weak_ptr< Scene > scene)
| Sets the scene. More...
std::shared_ptr< Scene > | getScene ()
| Gets the scene. More...
void | setSceneElement (std::weak_ptr< SceneElement > sceneElement)
| Sets the scene element. More...
std::shared_ptr< SceneElement > | getSceneElement ()
| Gets the scene element. More...
std::shared_ptr< const SceneElement > | getSceneElement () const
| Gets the scene element, constant version. More...
std::shared_ptr< Runtime > | getRuntime () const
| Get the runtime which contains this component. More...
virtual std::string | getClassName () const
| The class name for this class, this being the base class it should return SurgSim::Framework::Component but this would make missing implemenentations of this hard to catch, therefore this calls SURGSIM_FAILURE. More...
std::shared_ptr< Component > | getSharedPtr ()
| Gets a shared pointer to this component. More...
virtual bool | doInitialize ()=0
| Interface to be implemented by derived classes. More...
virtual bool | doWakeUp ()=0
| Interface to be implemented by derived classes. More...
virtual void | doRetire ()
| Interface to be implemented by derived classes Has a default implementation, does nothing. More...
bool | isActive () const
virtual void | setLocalActive (bool val)
| Set the component's active state. More...
bool | isLocalActive () const
Public Member Functions inherited from SurgSim::Framework::Accessible
| Accessible ()
| Default Constructor. More...
| ~Accessible ()
| Destructor. More...
template<class T >
T | getValue (const std::string &name) const
| Retrieves the value with the name by executing the getter if it is found and tries to convert it to the given type. More...
boost::any | getValue (const std::string &name) const
| Retrieves the value with the name by executing the getter if it is found. More...
template<class T >
bool | getValue (const std::string &name, T *value) const
| Retrieves the value with the name by executing the getter if it is found, and converts it to the type of the output parameter. More...
void | setValue (const std::string &name, const boost::any &value)
| Sets a value of a property that has setter. More...
bool | isReadable (const std::string &name) const
| Check whether a property is readable. More...
bool | isWriteable (const std::string &name) const
| Check whether a property is writable. More...
void | setGetter (const std::string &name, GetterType func)
| Sets a getter for a given property. More...
void | setSetter (const std::string &name, SetterType func)
| Sets a setter for a given property. More...
void | setAccessors (const std::string &name, GetterType getter, SetterType setter)
| Sets the accessors getter and setter in one function. More...
void | removeAccessors (const std::string &name)
| Removes all the accessors (getter and setter) for a given property. More...
void | forwardProperty (const std::string &name, const Accessible &target, const std::string &targetProperty)
| Adds a property with the given name that uses the targets accessors, in effect forwarding the value to the target. More...
void | setSerializable (const std::string &name, EncoderType encoder, DecoderType decoder)
| Sets the functions used to convert data from and to a YAML::Node. More...
void | setDecoder (const std::string &name, DecoderType decoder)
| Sets the functions used to convert data from a YAML::Node. More...
YAML::Node | encode () const
| Encode this Accessible to a YAML::Node. More...
void | decode (const YAML::Node &node, const std::vector< std::string > &ignoredProperties=std::vector< std::string >())
| Decode this Accessible from a YAML::Node, will throw an exception if the data type cannot be converted. More...
template<>
boost::any | getValue (const std::string &name) const

## Protected Member Functions

virtual void | doFilterContacts (const std::shared_ptr< Physics::PhysicsManagerState > &state, const std::shared_ptr< CollisionPair > &pair)=0
| Override this with the implementation of the filter, this has to be threadsafe, it will be called in parallel with different collision pairs. More...
virtual void | doUpdate (double dt)=0
Protected Member Functions inherited from SurgSim::Framework::Component
virtual std::shared_ptr< PoseComponent > | getPoseComponent ()
| Get the PoseComponent for this component. More...
virtual std::shared_ptr< const PoseComponent > | getPoseComponent () const
| Get the PoseComponent for this component, constant access. More...

## Additional Inherited Members

Public Types inherited from SurgSim::Framework::Accessible
typedef std::function< boost::any(void)> | GetterType
typedef std::function< void(boost::any)> | SetterType
typedef std::function< YAML::Node(void)> | EncoderType
typedef std::function< void(const YAML::Node *)> | DecoderType
Public Types inherited from SurgSim::Framework::FactoryBase1< Component, std::string >
typedef ObjectFactory1< Component, std::string > | FactoryType
Static Public Member Functions inherited from SurgSim::Framework::FactoryBase1< Component, std::string >
static FactoryType & | getFactory ()

## Detailed Description

Base class to implement a contact filter, the job of this class is to be executed by the ContactFiltering stage in the PhysicsManager.

Filters are being executed in parallel over all CollisionPair objects that have contacts, be careful with thread safety of the doFilterContacts function and all other writes to class members in your subclass

## Constructor & Destructor Documentation

## ContactFilter()

SurgSim::Collision::ContactFilter::ContactFilter | ( | const std::string & | name | ) |

explicit

Constructor.

## Member Function Documentation

## doFilterContacts()

virtual void SurgSim::Collision::ContactFilter::doFilterContacts | ( | const std::shared_ptr< Physics::PhysicsManagerState > & | state,
|  | const std::shared_ptr< CollisionPair > & | pair
| ) |  |

protected pure virtual

Override this with the implementation of the filter, this has to be threadsafe, it will be called in parallel with different collision pairs.

Implemented in SurgSim::Collision::ElementContactFilter.

## doUpdate()

virtual void SurgSim::Collision::ContactFilter::doUpdate | ( | double | dt | ) |

protected pure virtual

Implemented in SurgSim::Collision::ElementContactFilter.

## filterContacts()

void SurgSim::Collision::ContactFilter::filterContacts | ( | const std::shared_ptr< Physics::PhysicsManagerState > & | state,
|  | const std::shared_ptr< CollisionPair > & | pair
| ) |  |

Base function to filter the contacts on a collision pair this will modify the 'contacts' in the collision pair.

Parameters

  state | the physics state
  pair | the collision pair

## update()

void SurgSim::Collision::ContactFilter::update | ( | double | dt | ) |

Base function to update the internal data structures with regard to the filtering operation, this should only be called once per iteration.

Parameters

  dt | the time passed since the last call to update

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

- SurgSim/Collision/ContactFilter.h
- SurgSim/Collision/ContactFilter.cpp