SurgSim::Collision::OctreeDcdContact Class Reference

Class to calculate intersections between an Octree and other shapes. More...

#include <SurgSim/Collision/OctreeDcdContact.h>

Inheritance diagram for SurgSim::Collision::OctreeDcdContact:

Public Member Functions
	OctreeDcdContact (std::shared_ptr< ContactCalculation > calculator)
	Constructor. More...
virtual std::pair< int, int >	getShapeTypes () override
	Function that returns the shapes between which this class performs collision detection. More...
Public Member Functions inherited from SurgSim::Collision::ContactCalculation
	ContactCalculation ()
	Constructor. More...
virtual	~ContactCalculation ()
	Destructor. More...
void	calculateContact (std::shared_ptr< CollisionPair > pair)
	Function that handles asymmetric pair and calls the actual contact calculation routine of the sub class. More...

Private Member Functions
virtual void	doCalculateContact (std::shared_ptr< CollisionPair > pair) override
	Calculate the actual contact between two shapes of the given CollisionPair. More...
void	calculateContactWithNode (std::shared_ptr< const SurgSim::Math::OctreeShape::NodeType > node, std::shared_ptr< CollisionPair > pair, std::shared_ptr< SurgSim::DataStructures::OctreePath > nodePath)
	Calculate the collision between a specific octree node and a shape This function will check for contact between the node and shape. More...

Private Attributes
const std::shared_ptr< ContactCalculation >	m_calculator
	The contact calculator to use on each octree node. More...
std::pair< int, int >	m_shapeTypes
	The shape types that this contact caculation handles. More...
std::shared_ptr< ShapeCollisionRepresentation >	m_nodeCollisionRepresentation
	Collision Representation used to detect contacts with each octree node. More...

Detailed Description

Class to calculate intersections between an Octree and other shapes.

Constructor & Destructor Documentation

SurgSim::Collision::OctreeDcdContact::OctreeDcdContact ( std::shared_ptr< ContactCalculation >  calculator )

explicit

Constructor.

Parameters

calculator

The contact calculator to use on each octree node

Member Function Documentation

void SurgSim::Collision::OctreeDcdContact::calculateContactWithNode ( std::shared_ptr< const SurgSim::Math::OctreeShape::NodeType >  node, std::shared_ptr< CollisionPair >  pair, std::shared_ptr< SurgSim::DataStructures::OctreePath >  nodePath  )

private

Calculate the collision between a specific octree node and a shape This function will check for contact between the node and shape.

If contact is found, this function will be called on each of the node's children. Once a leaf node is reached, contacts are added to the CollisionPair.

Parameters

	node	the octree node to collide with
[in,out]	pair	the collision pair that is under consideration
	nodePath	the path of the current node

void SurgSim::Collision::OctreeDcdContact::doCalculateContact ( std::shared_ptr< CollisionPair >  pair )

overrideprivatevirtual

Calculate the actual contact between two shapes of the given CollisionPair.

Parameters

pair	The symmetric pair that is under consideration.

Implements SurgSim::Collision::ContactCalculation.

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

overridevirtual

Function that returns the shapes between which this class performs collision detection.

Returns

A pair of shape type ids

Implements SurgSim::Collision::ContactCalculation.

Member Data Documentation

const std::shared_ptr<ContactCalculation> SurgSim::Collision::OctreeDcdContact::m_calculator

private

The contact calculator to use on each octree node.

std::shared_ptr<ShapeCollisionRepresentation> SurgSim::Collision::OctreeDcdContact::m_nodeCollisionRepresentation

private

Collision Representation used to detect contacts with each octree node.

std::pair<int, int> SurgSim::Collision::OctreeDcdContact::m_shapeTypes

private

The shape types that this contact caculation handles.

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

• SurgSim/Collision/OctreeDcdContact.h
• SurgSim/Collision/OctreeDcdContact.cpp