Public Member Functions | List of all members
SurgSim::Collision::TriangleMeshSurfaceMeshContact Class Reference

Class to calculate intersections between a surface mesh and a triangle/surface mesh. More...

#include <SurgSim/Collision/TriangleMeshSurfaceMeshContact.h>

Inheritance diagram for SurgSim::Collision::TriangleMeshSurfaceMeshContact:
SurgSim::Collision::ShapeShapeContactCalculation< Math::MeshShape, Math::SurfaceMeshShape > SurgSim::Collision::ContactCalculation

Public Member Functions

std::list< std::shared_ptr< Contact > > calculateDcdContact (const Math::MeshShape &mesh1, const Math::RigidTransform3d &mesh1Pose, const Math::SurfaceMeshShape &mesh2, const Math::RigidTransform3d &mesh2Pose) const override
 
std::pair< int, int > getShapeTypes () override
 Virtual function that returns the shapes that this ContactCalculation class handles. More...
 
- Public Member Functions inherited from SurgSim::Collision::ContactCalculation
 ContactCalculation ()
 Constructor. More...
 
virtual ~ContactCalculation ()
 Destructor. More...
 
void calculateContact (std::shared_ptr< CollisionPair > pair)
 Calculate the contacts for a given pair. More...
 
std::list< std::shared_ptr< Contact > > calculateDcdContact (const Math::PosedShape< std::shared_ptr< Math::Shape >> posedShape1, const Math::PosedShape< std::shared_ptr< Math::Shape >> posedShape2)
 Calculate the dcd contacts between two posed/transformed shapes. More...
 
std::list< std::shared_ptr< Contact > > calculateCcdContact (const Math::PosedShapeMotion< std::shared_ptr< Math::Shape >> posedShapeMotion1, const Math::PosedShapeMotion< std::shared_ptr< Math::Shape >> posedShapeMotion2)
 Calculate the ccd contacts between two posed/transformed shapes. More...
 

Additional Inherited Members

- Public Types inherited from SurgSim::Collision::ContactCalculation
typedef std::array< std::array< std::shared_ptr< ContactCalculation >, Math::SHAPE_TYPE_COUNT >, Math::SHAPE_TYPE_COUNTTableType
 
- Static Public Member Functions inherited from SurgSim::Collision::ContactCalculation
static void registerDcdContactCalculation (const std::shared_ptr< ContactCalculation > &calculation)
 Register an instance of a contact calculation in the table. More...
 
static void registerCcdContactCalculation (const std::shared_ptr< ContactCalculation > &calculation)
 Register an instance of a contact calculation in the table. More...
 
static const TableTypegetDcdContactTable ()
 
static const TableTypegetCcdContactTable ()
 

Detailed Description

Class to calculate intersections between a surface mesh and a triangle/surface mesh.

Member Function Documentation

§ calculateDcdContact()

std::list< std::shared_ptr< Contact > > SurgSim::Collision::TriangleMeshSurfaceMeshContact::calculateDcdContact ( const Math::MeshShape mesh1,
const Math::RigidTransform3d mesh1Pose,
const Math::SurfaceMeshShape mesh2,
const Math::RigidTransform3d mesh2Pose 
) const
overridevirtual
Note
this expects the posed version of the shape to be passed

Reimplemented from SurgSim::Collision::ShapeShapeContactCalculation< Math::MeshShape, Math::SurfaceMeshShape >.

§ getShapeTypes()

std::pair< int, int > SurgSim::Collision::TriangleMeshSurfaceMeshContact::getShapeTypes ( )
overridevirtual

Virtual function that returns the shapes that this ContactCalculation class handles.

Returns
Return the shape types this class handles.

Implements SurgSim::Collision::ContactCalculation.


The documentation for this class was generated from the following files: