/usr/include/SurgSim/Physics/PrepareCollisionPairs.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 | // 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_PREPARECOLLISIONPAIRS_H
#define SURGSIM_PHYSICS_PREPARECOLLISIONPAIRS_H
#include <memory>
#include "SurgSim/Framework/Macros.h"
#include "SurgSim/Physics/Computation.h"
namespace SurgSim
{
namespace Collision
{
class ContactCalculation;
}
namespace Framework
{
class Logger;
}
namespace Physics
{
class PhysicsManagerState;
/// Computation to determine the contacts between a list of CollisionPairs.
/// This Computation class takes a list of representations, it will generate a list of collision pairs
/// from this list on every frame, for each CollisionPair, it uses a two dimensional table of
/// function objects (ContactCalculation) to determine how to calculate a contact between the two
/// members of each pair, if no specific function exists a default function will be used.
/// will update the collision pairs accordingly.
/// \note When a new ContactCalculation type gets implemented, the type needs to be registered with the table
/// inside of ContactCalculation
class PrepareCollisionPairs : public Computation
{
public:
/// Constructor
/// \param doCopyState Specify if the output state in Computation::Update() is a copy or not of the input state
explicit PrepareCollisionPairs(bool doCopyState = false);
SURGSIM_CLASSNAME(SurgSim::Physics::PrepareCollisionPairs);
/// Destructor
virtual ~PrepareCollisionPairs();
protected:
std::shared_ptr<PhysicsManagerState> doUpdate(const double& dt, const std::shared_ptr<PhysicsManagerState>& state)
override;
private:
/// The time since the collision pairs were last logged.
double m_timeSinceLog;
/// The logger.
std::shared_ptr<Framework::Logger> m_logger;
};
}; // Physics
}; // SurgSim
#endif // SURGSIM_PHYSICS_PREPARECOLLISIONPAIRS_H
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