A default calculation, it does nothing and can be used as a placeholder. More...

#include <SurgSim/Collision/DefaultContactCalculation.h>

Inheritance diagram for SurgSim::Collision::DefaultContactCalculation:

Public Member Functions
	DefaultContactCalculation (bool doAssert=false)
	Constructor. More...

virtual	~DefaultContactCalculation ()
	Destructor. More...

std::pair< int, int >	getShapeTypes () override
	Virtual function that returns the shapes that this ContactCalculation class handles. 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...

Private Member Functions
void	doCalculateContact (std::shared_ptr< CollisionPair > pair) override
	Calculate the actual contact between two shapes of the given CollisionPair. 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< Contact > >	doCalculateCcdContact (const Math::PosedShapeMotion< std::shared_ptr< Math::Shape >> &posedShapeMotion1, const Math::PosedShapeMotion< std::shared_ptr< Math::Shape >> &posedShapeMotion2) 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...

Private Attributes
bool	m_doAssert

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 ()

Detailed Description

A default calculation, it does nothing and can be used as a placeholder.

Constructor & Destructor Documentation

◆ DefaultContactCalculation()

SurgSim::Collision::DefaultContactCalculation::DefaultContactCalculation ( bool doAssert = false )

explicit

Constructor.

Parameters

doAssert If set the calculation will throw an exception if it is executed, this can be used to detect cases where a contact calculation is being called on a pair that should be implemented

◆ ~DefaultContactCalculation()

SurgSim::Collision::DefaultContactCalculation::~DefaultContactCalculation ( )

virtual

Destructor.

Member Function Documentation

◆ doCalculateCcdContact()

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

overrideprivatevirtual

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.

◆ doCalculateContact()

void SurgSim::Collision::DefaultContactCalculation::doCalculateContact ( std::shared_ptr< CollisionPair > pair )

overrideprivatevirtual

Calculate the actual contact between two shapes of the given CollisionPair.

Parameters

pair	The symmetric pair that is under consideration.

Reimplemented from SurgSim::Collision::ContactCalculation.

◆ doCalculateDcdContact()

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

overrideprivatevirtual

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::DefaultContactCalculation::getShapeTypes ( )

overridevirtual

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_doAssert

bool SurgSim::Collision::DefaultContactCalculation::m_doAssert

private

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

SurgSim/Collision/DefaultContactCalculation.h
SurgSim/Collision/DefaultContactCalculation.cpp

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ DefaultContactCalculation()

◆ ~DefaultContactCalculation()

Member Function Documentation

◆ doCalculateCcdContact()

◆ doCalculateContact()

◆ doCalculateDcdContact()

◆ getShapeTypes()

Member Data Documentation

◆ m_doAssert