/usr/include/SurgSim/Collision/TriangleMeshParticlesContact.h is in libopensurgsim-dev 0.7.0-5.
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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 | // 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_TRIANGLEMESHPARTICLESCONTACT_H
#define SURGSIM_COLLISION_TRIANGLEMESHPARTICLESCONTACT_H
#include <memory>
#include "SurgSim/Collision/ShapeShapeContactCalculation.h"
#include "SurgSim/Math/MeshShape.h"
#include "SurgSim/Math/ParticlesShape.h"
namespace SurgSim
{
namespace Collision
{
class CollisionPair;
/// Class to calculate intersections between a triangle mesh and particles
class TriangleMeshParticlesContact : public ShapeShapeContactCalculation<Math::MeshShape, Math::ParticlesShape>
{
public:
using ContactCalculation::calculateDcdContact;
/// \note poses are ignored for this calculation
std::list<std::shared_ptr<Contact>> calculateDcdContact(
const Math::MeshShape& mesh,
const Math::RigidTransform3d&,
const Math::ParticlesShape& particles,
const Math::RigidTransform3d&) const override;
std::pair<int, int> getShapeTypes() override;
};
}; // namespace Collision
}; // namespace SurgSim
#endif // SURGSIM_COLLISION_TRIANGLEMESHPARTICLESCONTACT_H
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