SurgSim::Collision::CompoundShapeContact Class Reference

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

Inheritance diagram for SurgSim::Collision::CompoundShapeContact:

## Public Member Functions

| CompoundShapeContact (const std::pair< int, int > &types)
| Constructor. 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...

## Protected Member Functions

std::pair< int, int > | getShapeTypes () override
| Virtual function that returns the shapes that this ContactCalculation class handles. More...
std::list< std::shared_ptr< Contact > > | doCalculateDcdContact (const Math::PosedShape< std::shared_ptr< Math::Shape >> &posedShape1, const Math::PosedShape< std::shared_ptr< Math::Shape >> &posedShape2) override
| Virtual function receives the call from the public interface, usually will type the shapes statically to their known types and then execute a specific contact calculation between the two shapes. More...
std::list< std::shared_ptr< SurgSim::Collision::Contact > > | doCalculateCcdContact (const Math::PosedShapeMotion< std::shared_ptr< Math::Shape >> &shape1, const Math::PosedShapeMotion< std::shared_ptr< Math::Shape >> &shape2) override
| Virtual function receives the call from the public interface, usually will type the shapes statically to their known types and then execute a specific contact calculation between the two shapes. More...

## Protected Attributes

std::pair< int, int > | m_types
| Local shape types for this instance, these can be set to match the expected 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 ()

## Constructor & Destructor Documentation

## CompoundShapeContact()

SurgSim::Collision::CompoundShapeContact::CompoundShapeContact | ( | const std::pair< int, int > & | types | ) |

explicit

Constructor.

## Member Function Documentation

## doCalculateCcdContact()

std::list< std::shared_ptr< SurgSim::Collision::Contact > > SurgSim::Collision::CompoundShapeContact::doCalculateCcdContact | ( | const Math::PosedShapeMotion< std::shared_ptr< Math::Shape >> & | posedShapeMotion1,
|  | const Math::PosedShapeMotion< std::shared_ptr< Math::Shape >> & | posedShapeMotion2
| ) |  |

override protected virtual

Virtual function receives the call from the public interface, usually will type the shapes statically to their known types and then execute a specific contact calculation between the two shapes.

Parameters

  posedShapeMotion1,posedShapeMotion2 | The two posed shapes motion to calculate ccd contact for

Returns
  a list of ccd contacts between the two given posed shapes motion

Reimplemented from SurgSim::Collision::ContactCalculation.

## doCalculateDcdContact()

std::list< std::shared_ptr< Contact > > SurgSim::Collision::CompoundShapeContact::doCalculateDcdContact | ( | const Math::PosedShape< std::shared_ptr< Math::Shape >> & | posedShape1,
|  | const Math::PosedShape< std::shared_ptr< Math::Shape >> & | posedShape2
| ) |  |

override protected virtual

Virtual function receives the call from the public interface, usually will type the shapes statically to their known types and then execute a specific contact calculation between the two shapes.

Parameters

  posedShape1,posedShape2 | The two posed shapes to calculate dcd contact for

Returns
  a list of dcd contacts between the two given posed shapes

Reimplemented from SurgSim::Collision::ContactCalculation.

## getShapeTypes()

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

override protected virtual

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

Returns
  Return the shape types this class handles.

Implements SurgSim::Collision::ContactCalculation.

## Member Data Documentation

## m_types

std::pair<int, int> SurgSim::Collision::CompoundShapeContact::m_types

protected

Local shape types for this instance, these can be set to match the expected shapes.

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

- SurgSim/Collision/CompoundShapeContact.h
- SurgSim/Collision/CompoundShapeContact.cpp