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16 #ifndef SURGSIM_PHYSICS_RIGIDCOLLISIONREPRESENTATION_H
17 #define SURGSIM_PHYSICS_RIGIDCOLLISIONREPRESENTATION_H
28 class RigidRepresentationBase;
30 SURGSIM_STATIC_REGISTRATION(RigidCollisionRepresentation);
57 const std::shared_ptr<SurgSim::Math::Shape>
getShape()
const override;
63 void setShape(std::shared_ptr<SurgSim::Math::Shape> shape);
79 std::shared_ptr<SurgSim::Math::Shape>
m_shape;
85 #endif // SURGSIM_PHYSICS_RIGIDCOLLISIONREPRESENTATION_H
std::weak_ptr< SurgSim::Physics::RigidRepresentationBase > m_physicsRepresentation
Definition: RigidCollisionRepresentation.h:78
Collision Representation class that wraps a RigidRepresentation, this can be used to strictly tie the...
Definition: RigidCollisionRepresentation.h:35
void setRigidRepresentation(std::shared_ptr< SurgSim::Physics::RigidRepresentationBase > representation)
Set rigid representation.
Definition: RigidCollisionRepresentation.cpp:44
const std::shared_ptr< SurgSim::Math::Shape > getShape() const override
Get the shape.
Definition: RigidCollisionRepresentation.cpp:60
Eigen::Transform< double, 3, Eigen::Isometry > RigidTransform3d
A 3D rigid (isometric) transform, represented as doubles.
Definition: RigidTransform.h:46
Definition: CompoundShapeToGraphics.cpp:29
void updateDcdData() override
Update the data (the shape) in preparation for a DCD contact calculation.
Definition: RigidCollisionRepresentation.cpp:96
The type of collision detection.
Definition: Representation.h:60
virtual ~RigidCollisionRepresentation()
Destructor.
Definition: RigidCollisionRepresentation.cpp:40
std::shared_ptr< SurgSim::Math::Shape > m_shape
Definition: RigidCollisionRepresentation.h:79
int getShapeType() const override
Get the shape type id.
Definition: RigidCollisionRepresentation.cpp:55
SurgSim::Math::RigidTransform3d getPose() const override
Get the pose of the representation.
Definition: RigidCollisionRepresentation.cpp:80
void setShape(std::shared_ptr< SurgSim::Math::Shape > shape)
Set the shape The default is to use the shape of the Rigid Representation, this will override that sh...
Definition: RigidCollisionRepresentation.cpp:75
void updateCcdData(double timeOfImpact) override
Update the data (the motionShape) in preparation for a CCD contact calcul ation.
Definition: RigidCollisionRepresentation.cpp:103
SURGSIM_CLASSNAME(SurgSim::Physics::RigidCollisionRepresentation)
RigidCollisionRepresentation(const std::string &name)
Constructor.
Definition: RigidCollisionRepresentation.cpp:33
void updateShapeData() override
Update the basic Shape's state from the physics state, so that the bounding box can correctly be dete...
Definition: RigidCollisionRepresentation.cpp:89
std::shared_ptr< SurgSim::Physics::RigidRepresentationBase > getRigidRepresentation()
Gets physics representation.
Definition: RigidCollisionRepresentation.cpp:50