/usr/include/SurgSim/Collision/CompoundShapeContact.h is in libopensurgsim-dev 0.7.0-5.
This file is owned by root:root, with mode 0o644.
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 | // This file is a part of the OpenSurgSim project.
// Copyright 2013-2015, 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_COMPOUNDSHAPECONTACT_H
#define SURGSIM_COLLISION_COMPOUNDSHAPECONTACT_H
#include "SurgSim/Collision/ContactCalculation.h"
namespace SurgSim
{
namespace Collision
{
class CompoundShapeContact : public ContactCalculation
{
public:
/// Constructor
explicit CompoundShapeContact(const std::pair<int, int>& types);
protected:
std::pair<int, int> getShapeTypes() override;
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;
std::list<std::shared_ptr<SurgSim::Collision::Contact>> doCalculateCcdContact(
const Math::PosedShapeMotion<std::shared_ptr<Math::Shape>>& shape1,
const Math::PosedShapeMotion<std::shared_ptr<Math::Shape>>& shape2) override;
/// Local shape types for this instance, these can be set to match the expected shapes
std::pair<int, int> m_types;
};
}
}
#endif
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