ContactFilter.h

// This file is a part of the OpenSurgSim project.
// Copyright 2013-2016, 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_COLLISION_CONTACTFILTER_H
#define SURGSIM_COLLISION_CONTACTFILTER_H


#include "SurgSim/Framework/Component.h"

#include <string>

namespace SurgSim
{

namespace Physics
{
class PhysicsManagerState;
}

namespace Collision
{
class CollisionPair;

class ContactFilter : public Framework::Component
{
public:
    explicit ContactFilter(const std::string& name);

    void filterContacts(
        const std::shared_ptr<Physics::PhysicsManagerState>& state,
        const std::shared_ptr<CollisionPair>& pair);

    void update(double dt);

protected:

    virtual void doFilterContacts(const std::shared_ptr<Physics::PhysicsManagerState>& state,
                                  const std::shared_ptr<CollisionPair>& pair) = 0;

    virtual void doUpdate(double dt) = 0;

};

}
}

#endif