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16 #ifndef SURGSIM_COLLISION_SEGMENTSELFCONTACT_H
17 #define SURGSIM_COLLISION_SEGMENTSELFCONTACT_H
101 const std::array<SurgSim::Math::Vector3d, 2>& pt0Positions,
102 const std::array<SurgSim::Math::Vector3d, 2>& pt1Positions,
103 const std::array<SurgSim::Math::Vector3d, 2>& qt0Positions,
104 const std::array<SurgSim::Math::Vector3d, 2>& qt1Positions,
105 double segmentRadius1,
double segmentRadius2,
106 double timePrecision,
107 double* r,
double* s,
double* t,
117 const std::list<SurgSim::DataStructures::AabbTree::TreeNodePairType>& intersectionList,
118 std::set<std::pair<size_t, size_t>>* segmentIds)
const;
133 size_t segment1SegID,
size_t segment2SegID)
const;
143 double threshold)
const;
157 const std::list<std::shared_ptr<Contact>>& contacts,
158 double t, Collision::CollisionDetectionType collisionType,
159 size_t segId1,
double s1,
size_t segId2,
double s2,
double timeEpsilon)
const;
169 size_t segId1,
double s1,
size_t segId2,
double s2)
const;
182 const std::array<SurgSim::Math::Vector3d, 2>& pt0Positions,
183 const std::array<SurgSim::Math::Vector3d, 2>& pt1Positions,
184 const std::array<SurgSim::Math::Vector3d, 2>& qt0Positions,
185 const std::array<SurgSim::Math::Vector3d, 2>& qt1Positions,
186 double effectiveThickness)
const;
205 std::shared_ptr<SurgSim::Framework::Logger>
m_logger;
211 #endif // SURGSIM_COLLISION_SEGMENTSELFCONTACT_H
Eigen::Transform< double, 3, Eigen::Isometry > RigidTransform3d
A 3D rigid (isometric) transform, represented as doubles.
Definition: RigidTransform.h:46
Eigen::Matrix< double, 3, 1 > Vector3d
A 3D vector of doubles.
Definition: Vector.h:57
Definition: CompoundShapeToGraphics.cpp:29
SegmentMeshShape defines a shape based on a mesh, like MeshShape.
Definition: SegmentMeshShape.h:36