/usr/include/SurgSim/Math/Shape.h is in libopensurgsim-dev 0.7.0-5.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 | // This file is a part of the OpenSurgSim project.
// Copyright 2013-2016, 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_MATH_SHAPE_H
#define SURGSIM_MATH_SHAPE_H
#include "SurgSim/Framework/Accessible.h"
#include "SurgSim/Framework/ObjectFactory.h"
#include "SurgSim/Math/Matrix.h"
#include "SurgSim/Math/RigidTransform.h"
#include "SurgSim/Math/Vector.h"
#include "SurgSim/Math/Aabb.h"
#include "SurgSim/DataStructures/OptionalValue.h"
namespace SurgSim
{
namespace Math
{
/// Type defining the shape direction for certain templatized shape
/// (i.e. CylinderShape and CapsuleShape)
typedef enum
{
SHAPE_DIRECTION_AXIS_X = 0,
SHAPE_DIRECTION_AXIS_Y = 1,
SHAPE_DIRECTION_AXIS_Z = 2
} ShapeDirection;
/// Fixed List of enums for the available Shape types, do not explicitly assign values, ShapeCount is
/// used to determine the number of actual shape types
typedef enum
{
SHAPE_TYPE_NONE = -1,
SHAPE_TYPE_BOX,
SHAPE_TYPE_CAPSULE,
SHAPE_TYPE_CYLINDER,
SHAPE_TYPE_DOUBLESIDEDPLANE,
SHAPE_TYPE_MESH,
SHAPE_TYPE_OCTREE,
SHAPE_TYPE_PARTICLES,
SHAPE_TYPE_PLANE,
SHAPE_TYPE_SPHERE,
SHAPE_TYPE_SURFACEMESH,
SHAPE_TYPE_SEGMENTMESH,
SHAPE_TYPE_COMPOUNDSHAPE,
SHAPE_TYPE_COUNT
} ShapeType;
/// Generic rigid shape class defining a shape
/// \note This class gives the ability to analyze the shape and compute
/// \note physical information (volume, mass, mass center, inertia)
class Shape : virtual public SurgSim::Framework::Accessible, public Framework::FactoryBase<Shape>
{
public:
typedef ::SurgSim::Math::Vector3d Vector3d;
typedef ::SurgSim::Math::Matrix33d Matrix33d;
/// Constructor
Shape();
/// Destructor
virtual ~Shape();
/// \return the type of shape
virtual int getType() const = 0;
/// Get the volume of the shape
/// \return The volume of the shape (in m-3)
virtual double getVolume() const = 0;
/// Get the volumetric center of the shape
/// \return The center of the shape
virtual Vector3d getCenter() const = 0;
/// Get the second central moment of the volume, commonly used
/// to calculate the moment of inertia matrix
/// \return The 3x3 symmetric second moment matrix
virtual Matrix33d getSecondMomentOfVolume() const = 0;
/// \return true if the the shape can be transformed
virtual bool isTransformable() const;
/// Get a copy of this shape with an applied rigid transform
/// \param pose The pose to transform the shape by
/// \return the posed shape
virtual std::shared_ptr<Shape> getTransformed(const RigidTransform3d& pose) const;
/// Get class name
virtual std::string getClassName() const;
/// Check if the shape is valid
/// \return True if shape is valid; Otherwise, false.
virtual bool isValid() const = 0;
/// \return the bounding box for the shape
virtual const Math::Aabbd& getBoundingBox() const;
protected:
Math::Aabbd m_aabb;
};
/// PosedShape is a transformed shape with a record of the pose used to transform it.
template <class T>
struct PosedShape
{
PosedShape()
{
pose = Math::RigidTransform3d::Identity();
}
PosedShape(const T& shapeInput, const Math::RigidTransform3d& poseInput) : shape(shapeInput), pose(poseInput) {}
void invalidate()
{
shape = nullptr;
}
const T& getShape() const
{
return shape;
}
const Math::RigidTransform3d& getPose() const
{
return pose;
}
protected:
T shape;
Math::RigidTransform3d pose;
};
/// PosedShapeMotion is embedding the motion of a PosedShape, providing a posed shape at 2 different instant.
template <class T>
struct PosedShapeMotion : public std::pair<PosedShape<T>, PosedShape<T>>
{
PosedShapeMotion() {}
PosedShapeMotion(const PosedShape<T>& posedShapeFirst, const PosedShape<T>& posedShapeSecond)
{
this->first = posedShapeFirst;
this->second = posedShapeSecond;
}
void invalidate()
{
this->first.invalidate();
this->second.invalidate();
}
};
}; // Math
}; // SurgSim
#endif // SURGSIM_MATH_SHAPE_H
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