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#include <SurgSim/Collision/OctreePlaneContact.h>
Public Member Functions | |
| 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... | |
Protected Member Functions | |
| std::list< std::shared_ptr< Contact > > | boxContactCalculation (const SurgSim::Math::BoxShape &boxShape, const SurgSim::Math::RigidTransform3d &boxPose, const SurgSim::Math::Shape &otherShape, const SurgSim::Math::RigidTransform3d &otherPose) override |
| Do the calculation between an octree node (BoxShape) and the other shape. More... | |
Private Attributes | |
| BoxPlaneContact | m_calculator |
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 () |
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overrideprotectedvirtual |
Do the calculation between an octree node (BoxShape) and the other shape.
| boxShape | the box shape |
| boxPose | the pose of the box |
| otherShape | the other shape |
| otherPose | the pose of the other shape |
Implements SurgSim::Collision::OctreeContact.
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overridevirtual |
Virtual function that returns the shapes that this ContactCalculation class handles.
Implements SurgSim::Collision::ContactCalculation.
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private |
1.8.13