/usr/include/SurgSim/Physics/ContactConstraintData.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 | // This file is a part of the OpenSurgSim project.
// 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_PHYSICS_CONTACTCONSTRAINTDATA_H
#define SURGSIM_PHYSICS_CONTACTCONSTRAINTDATA_H
#include "SurgSim/Collision/CollisionPair.h"
#include "SurgSim/Physics/ConstraintData.h"
#include "SurgSim/Math/Vector.h"
namespace SurgSim
{
namespace Physics
{
/// Class for Frictionless contact (only needs a plane equation)
class ContactConstraintData : public ConstraintData
{
public:
/// Default constructor
ContactConstraintData() :
ConstraintData(),
m_distance(0.0)
{
m_normal.setZero();
}
/// Destructor
virtual ~ContactConstraintData()
{
}
/// Sets the plane equation of the frictionless contact
/// \param n The plane normal (normalized vector)
/// \param d The plane distance to the origin
/// \note The plane is defined by { P | n.P + d = 0 }
void setPlaneEquation(const SurgSim::Math::Vector3d& n, double d)
{
m_normal = n;
m_distance = d;
}
/// Gets the plane normal vector
/// \return The plane equation's normal vector (normalized vector)
const SurgSim::Math::Vector3d& getNormal() const
{
return m_normal;
}
/// Gets the plane distance to the origin
/// \return The plane equation's distance to the origin
double getDistance() const
{
return m_distance;
}
/// Gets the time of contact for the collision
/// \return The time of contact for the collision
double getContactTime() const
{
return m_contact->time;
}
/// \return The contact that uses this constraint data.
std::shared_ptr<Collision::Contact> getContact()
{
return m_contact;
}
/// \param contacts The contacts that use this constraint data.
void setContact(const std::shared_ptr<Collision::Contact>& contacts)
{
m_contact = contacts;
}
private:
/// Plane equation normal vector (normalized vector)
SurgSim::Math::Vector3d m_normal;
/// Plane equation distance to origin
double m_distance;
/// The contact that uses this constraint data.
std::shared_ptr<Collision::Contact> m_contact;
};
}; // namespace Physics
}; // namespace SurgSim
#endif // SURGSIM_PHYSICS_CONTACTCONSTRAINTDATA_H
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