SurgSim::Physics::UpdateCcdData Class Reference

`#include <SurgSim/Physics/UpdateCcdData.h>`

Inheritance diagram for SurgSim::Physics::UpdateCcdData:

## Public Member Functions

| UpdateCcdData (bool copyState)
| Constructor. More...
| SURGSIM_CLASSNAME (SurgSim::Physics::UpdateCcdData)
| ~UpdateCcdData ()
| Destructor. More...
std::shared_ptr< PhysicsManagerState > | doUpdate (const double &interval, const std::shared_ptr< PhysicsManagerState > &state) override
| Change of behavior, the value transported is not the complete 'interval' but is the percentage of the last interval where the previous impact was found, this is to trigger the correct interpolation of the state from the previous state to the interpolated state. More...
Public Member Functions inherited from SurgSim::Physics::Computation
| Computation (bool doCopyState)
| Constructor. More...
virtual | ~Computation ()
| Destructor. More...
std::shared_ptr< PhysicsManagerState > | update (double dt, const std::shared_ptr< PhysicsManagerState > &state)
| Public Interface execute this objects computations, dt is the time from the last update call in seconds. More...
void | setDoCopyState (bool val)
| Sets up whether the computation will copy the state of PhysicsManagerState before executing. More...
bool | isCopyingState ()
| Query if this object is copying the PhysicsManagerState. More...
virtual std::string | getClassName () const =0
| The class name for this class. More...
Framework::Timer & | getTimer ()
| Provides access to the update timer. More...

## Additional Inherited Members

## Constructor & Destructor Documentation

## UpdateCcdData()

SurgSim::Physics::UpdateCcdData::UpdateCcdData | ( | bool | copyState | ) |

explicit

Constructor.

## ~UpdateCcdData()

SurgSim::Physics::UpdateCcdData::~UpdateCcdData | ( |  | ) |

Destructor.

## Member Function Documentation

## doUpdate()

std::shared_ptr< PhysicsManagerState > SurgSim::Physics::UpdateCcdData::doUpdate | ( | const double & | interval,
|  | const std::shared_ptr< PhysicsManagerState > & | state
| ) |  |

override virtual

Change of behavior, the value transported is not the complete 'interval' but is the percentage of the last interval where the previous impact was found, this is to trigger the correct interpolation of the state from the previous state to the interpolated state.

This value is relative to the last interval to match the behavior of the rest of the system

Parameters

  interval | Parameter to be used to interpolate the previousPhysicsState
  state | normal PhysicsManagerState

Implements SurgSim::Physics::Computation.

## SURGSIM_CLASSNAME()

SurgSim::Physics::UpdateCcdData::SURGSIM_CLASSNAME | ( | SurgSim::Physics::UpdateCcdData |  | ) |

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

- SurgSim/Physics/UpdateCcdData.h
- SurgSim/Physics/UpdateCcdData.cpp