/usr/include/SurgSim/Blocks/TransferPhysicsToVerticesBehavior.h is in libopensurgsim-dev 0.7.0-5.
This file is owned by root:root, with mode 0o644.
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// 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_BLOCKS_TRANSFERPHYSICSTOVERTICESBEHAVIOR_H
#define SURGSIM_BLOCKS_TRANSFERPHYSICSTOVERTICESBEHAVIOR_H
#include "SurgSim/DataStructures/EmptyData.h"
#include "SurgSim/DataStructures/Vertices.h"
#include "SurgSim/Framework/Behavior.h"
namespace SurgSim
{
namespace Physics
{
class DeformableRepresentation;
}
namespace Graphics
{
class CurveRepresentation;
}
namespace Blocks
{
/// Transfer Physics State to any representation that has a Vertices property, the "Vertices" property on the targets
/// side needs to accept DataStructures::VerticesPlain for the type.
class TransferPhysicsToVerticesBehavior : public Framework::Behavior
{
public:
/// Constructor
/// \param name Name of the behavior
explicit TransferPhysicsToVerticesBehavior(const std::string& name);
/// \return the source representation of this behavior
std::shared_ptr<Physics::DeformableRepresentation> getSource() const;
/// Sets the source for this behavior, all the positions from the state of the source
/// will be copied into a Vertices object and set in the target, using setValue("Vertices")
/// \param source the component that is the source
void setSource(const std::shared_ptr<Framework::Component>& source);
/// \return the target representation of this behavior
std::shared_ptr<Framework::Component> getTarget() const;
/// Sets the target for this behavior, it needs to have a "Vertices" property that takes
/// DataStructures::VerticesPlain as a parameter
/// \throws if target does not have a "Vertices" property
/// \param target the representation to be used as a target
void setTarget(const std::shared_ptr<Framework::Component>& target);
/// override update
/// \throws if the type of the "Vertices" property on the target is not DataStructures::VerticesPlain
void update(double dt) override;
bool doInitialize() override;
bool doWakeUp() override;
private:
std::shared_ptr<Physics::DeformableRepresentation> m_source; ///@< Source representation
std::shared_ptr<Framework::Component> m_target; ///@< Target representation
/// vertices structure that is used for the update
DataStructures::VerticesPlain m_vertices;
};
}
}
#endif
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