DcdCollision.h
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// This file is a part of the OpenSurgSim project.
// Copyright 2013, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef SURGSIM_PHYSICS_DCDCOLLISION_H
#define SURGSIM_PHYSICS_DCDCOLLISION_H
#include <memory>
#include "SurgSim/Framework/Macros.h"
#include "SurgSim/Math/Shape.h"
#include "SurgSim/Physics/Computation.h"
namespace SurgSim
{
namespace Collision
{
class ContactCalculation;
}
namespace Physics
{
class PhysicsManagerState;
class DcdCollision : public Computation
{
public:
explicit DcdCollision(bool doCopyState = false);
SURGSIM_CLASSNAME(SurgSim::Physics::DcdCollision);
virtual ~DcdCollision();
protected:
std::shared_ptr<PhysicsManagerState> doUpdate(const double& dt, const std::shared_ptr<PhysicsManagerState>& state)
override;
};
}; // Physics
}; // SurgSim
#endif
SurgSim
Definition: CompoundShapeToGraphics.cpp:29
SurgSim::Physics::DcdCollision
Computation to determine the contacts between a list of CollisionPairs.
Definition: DcdCollision.h:45
SURGSIM_CLASSNAME
#define SURGSIM_CLASSNAME(ClassName)
Declare the class name of a class with the appropriate function header, do not use quotes...
Definition: Macros.h:21
Macros.h
SurgSim::Physics::Computation
Encapsulates a calculation over a selection of objects, needs to be subclassed to be used...
Definition: Computation.h:32
Shape.h
Computation.h