/usr/include/SurgSim/Collision/ShapeShapeContactCalculation.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 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 | // 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_SHAPESHAPECONTACTCALCULATION_H
#define SURGSIM_COLLISION_SHAPESHAPECONTACTCALCULATION_H
#include "SurgSim/Collision/ContactCalculation.h"
#include "SurgSim/Math/Shape.h"
namespace SurgSim
{
namespace Collision
{
/// Class that can automate the type conversion and provides a consistent interface to the typed call
/// Takes the shapes to convert as template parameters
template <class Shape1, class Shape2>
class ShapeShapeContactCalculation : public ContactCalculation
{
/// Virtual function to be overridden, this provides the typed contact calculation between two shapes
/// it takes two shapes and their respective poses, and will return the contacts between those two shapes
/// for shapes that return true for isTransformable(), the calculation may ignore the pose passed in the
/// function.
virtual std::list<std::shared_ptr<Contact>> calculateDcdContact(
const Shape1& shape1, const Math::RigidTransform3d& pose1,
const Shape2& shape2, const Math::RigidTransform3d& pose2) const
{
SURGSIM_FAILURE() << "Not implemented";
return std::list<std::shared_ptr<Contact>>();
}
virtual std::list<std::shared_ptr<Contact>> calculateCcdContact(
const Shape1& shape1AtTime0, const Math::RigidTransform3d& pose1AtTime0,
const Shape1& shape1AtTime1, const Math::RigidTransform3d& pose1AtTime1,
const Shape2& shape2AtTime0, const Math::RigidTransform3d& pose2AtTime0,
const Shape2& shape2AtTime1, const Math::RigidTransform3d& pose2AtTime1) const
{
SURGSIM_FAILURE() << "Not implemented";
return std::list<std::shared_ptr<Contact>>();
}
/// Overrides the dcd contact calculation to go from untyped shapes to the typed shapes
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
{
auto one = std::static_pointer_cast<Shape1>(posedShape1.getShape());
auto two = std::static_pointer_cast<Shape2>(posedShape2.getShape());
SURGSIM_ASSERT(one->getType() == posedShape1.getShape()->getType()) << "Invalid Shape 1";
SURGSIM_ASSERT(two->getType() == posedShape2.getShape()->getType()) << "Invalid Shape 2";
return calculateDcdContact(*one, posedShape1.getPose(), *two, posedShape2.getPose());
}
/// Overrides the ccd contact calculation to go from untyped shapes to the typed shapes
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
{
auto oneAtTime0 = std::static_pointer_cast<Shape1>(posedShapeMotion1.first.getShape());
auto oneAtTime1 = std::static_pointer_cast<Shape1>(posedShapeMotion1.second.getShape());
auto twoAtTime0 = std::static_pointer_cast<Shape2>(posedShapeMotion2.first.getShape());
auto twoAtTime1 = std::static_pointer_cast<Shape2>(posedShapeMotion2.second.getShape());
SURGSIM_ASSERT(oneAtTime0->getType() == posedShapeMotion1.first.getShape()->getType()) <<
"Invalid Shape 1 detected at time 0";
SURGSIM_ASSERT(oneAtTime1->getType() == posedShapeMotion1.second.getShape()->getType()) <<
"Invalid Shape 1 detected at time 1";
SURGSIM_ASSERT(twoAtTime0->getType() == posedShapeMotion2.first.getShape()->getType()) <<
"Invalid Shape 2 detected at time 0";
SURGSIM_ASSERT(twoAtTime1->getType() == posedShapeMotion2.second.getShape()->getType()) <<
"Invalid Shape 2 detected at time 1";
return calculateCcdContact(
*oneAtTime0, posedShapeMotion1.first.getPose(), *oneAtTime1, posedShapeMotion1.second.getPose(),
*twoAtTime0, posedShapeMotion2.first.getPose(), *twoAtTime1, posedShapeMotion2.second.getPose());
}
};
}
}
#endif
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