ShapeCollisionRepresentation.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_COLLISION_SHAPECOLLISIONREPRESENTATION_H
#define SURGSIM_COLLISION_SHAPECOLLISIONREPRESENTATION_H
#include "SurgSim/Collision/Representation.h"
#include "SurgSim/Framework/Macros.h"
#include "SurgSim/Framework/ObjectFactory.h"
namespace SurgSim
{
namespace Math
{
class Shape;
}
namespace Collision
{
SURGSIM_STATIC_REGISTRATION(ShapeCollisionRepresentation);
class ShapeCollisionRepresentation : public Representation
{
public:
explicit ShapeCollisionRepresentation(const std::string& name);
virtual ~ShapeCollisionRepresentation();
SURGSIM_CLASSNAME(SurgSim::Collision::ShapeCollisionRepresentation);
int getShapeType() const override;
void setLocalPose(const SurgSim::Math::RigidTransform3d& pose) override;
// Set the shape to be used in this representation
// \param shape Shape to be used in this representation.
void setShape(const std::shared_ptr<SurgSim::Math::Shape>& shape);
const std::shared_ptr<SurgSim::Math::Shape> getShape() const override;
protected:
bool doInitialize() override;
private:
// Shape used by this representation
std::shared_ptr<SurgSim::Math::Shape> m_shape;
};
}; // namespace Collision
}; // namespace SurgSim
#endif // SURGSIM_COLLISION_SHAPECOLLISIONREPRESENTATION_H
SurgSim
Definition: CompoundShapeToGraphics.cpp:29
ObjectFactory.h
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
SurgSim::Collision::ShapeCollisionRepresentation::m_shape
std::shared_ptr< SurgSim::Math::Shape > m_shape
Definition: ShapeCollisionRepresentation.h:62
Representation.h
Macros.h
SurgSim::Math::RigidTransform3d
Eigen::Transform< double, 3, Eigen::Isometry > RigidTransform3d
A 3D rigid (isometric) transform, represented as doubles.
Definition: RigidTransform.h:46
SurgSim::Collision::Representation
The type of collision detection.
Definition: Representation.h:60
SurgSim::Collision::ShapeCollisionRepresentation
Use a Shape as a Collision Representation, any SurgSim::Physics::Representation can be used as a back...
Definition: ShapeCollisionRepresentation.h:36