SurgSim::Collision::CollisionPair Class Reference

Collision Pair class, it signifies a pair of items that should be checked with the collision algorithm, this structure will be used for input as well as output, as contacts get appended to the contacts list when found. More...

#include <CollisionPair.h>

Public Member Functions
	CollisionPair ()
	Default Constructor.
	CollisionPair (const std::shared_ptr< Representation > &first, const std::shared_ptr< Representation > &second)
	Normal constructor.
	~CollisionPair ()
	Destructor.
void	setRepresentations (const std::shared_ptr< Representation > &first, const std::shared_ptr< Representation > &second)
	Sets the representations in this pair, representations cannot be the same instance and neither can be nullptr. More...
const std::pair< std::shared_ptr< Representation >, std::shared_ptr< Representation > > &	getRepresentations () const
	Function that returns the pair of representations of the objects that are colliding. More...
CollisionDetectionType	getType () const
	Get the collision detection type for this pair. More...
std::shared_ptr< Representation >	getFirst () const
std::shared_ptr< Representation >	getSecond () const
bool	hasContacts () const
void	addCcdContact (const double &depth, const double &time, const SurgSim::Math::Vector3d &contactPoint, const SurgSim::Math::Vector3d &normal, const std::pair< SurgSim::DataStructures::Location, SurgSim::DataStructures::Location > &penetrationPoints)
	Adds a CCD contact to the collision pair. More...
void	addDcdContact (const double &depth, const SurgSim::Math::Vector3d &normal, const std::pair< SurgSim::DataStructures::Location, SurgSim::DataStructures::Location > &penetrationPoints)
	Adds a DCD contact to the collision pair. More...
void	addContact (const std::shared_ptr< Contact > &contact)
	Adds a contact. More...
void	updateRepresentations ()
	Update the representations by adding the contacts to them.
std::list< std::shared_ptr< Contact > > &	getContacts ()
void	clearContacts ()
	Reset clear the list of contacts, invalidating all the contacts.
void	swapRepresentations ()
	Swap the representation pair so that first becomes second and second becomes first.
bool	isSwapped () const
	Query if this the pair has been swapped from when it was constructed. More...
bool	mayIntersect () const

Detailed Description

Collision Pair class, it signifies a pair of items that should be checked with the collision algorithm, this structure will be used for input as well as output, as contacts get appended to the contacts list when found.

Member Function Documentation

addCcdContact()

void SurgSim::Collision::CollisionPair::addCcdContact	(	const double &	depth,
		const double &	time,
		const SurgSim::Math::Vector3d &	contactPoint,
		const SurgSim::Math::Vector3d &	normal,
		const std::pair< SurgSim::DataStructures::Location, SurgSim::DataStructures::Location > &	penetrationPoints
	)

Adds a CCD contact to the collision pair.

Parameters

depth	The depth of the intersection.
time	The actual time of contact as determined by the CCD algorithm.
contactPoint	The contact point, between the two bodies at time "time"
normal	The normal of the contact pointing into the first representation.
penetrationPoints	The points furthest into the opposing object

addContact()

void SurgSim::Collision::CollisionPair::addContact

(

const std::shared_ptr< Contact > &

contact

)

Adds a contact.

Parameters

contact

The contact between the first and the second representation.

addDcdContact()

void SurgSim::Collision::CollisionPair::addDcdContact	(	const double &	depth,
		const SurgSim::Math::Vector3d &	normal,
		const std::pair< SurgSim::DataStructures::Location, SurgSim::DataStructures::Location > &	penetrationPoints
	)

Adds a DCD contact to the collision pair.

Parameters

depth	The depth of the intersection.
normal	The normal of the contact pointing into the first representation.
penetrationPoints	The points furthest into the opposing object

getContacts()

std::list< std::shared_ptr< Contact > > & SurgSim::Collision::CollisionPair::getContacts

(

)

Returns

All the contacts.

getFirst()

std::shared_ptr< Representation > SurgSim::Collision::CollisionPair::getFirst

(

)

const

Returns

The representation considered to be the first

getRepresentations()

const std::pair< std::shared_ptr< Representation >, std::shared_ptr< Representation > > & SurgSim::Collision::CollisionPair::getRepresentations

(

)

const

Function that returns the pair of representations of the objects that are colliding.

Returns

The pair of representations that are colliding.

getSecond()

std::shared_ptr< Representation > SurgSim::Collision::CollisionPair::getSecond

(

)

const

Returns

The representation considered to be the second

getType()

CollisionDetectionType SurgSim::Collision::CollisionPair::getType

(

)

const

Get the collision detection type for this pair.

Returns

The collision detection type

hasContacts()

bool SurgSim::Collision::CollisionPair::hasContacts

(

)

const

Returns

true if there are any contacts assigned to the pair, false otherwise

isSwapped()

bool SurgSim::Collision::CollisionPair::isSwapped

(

)

const

Query if this the pair has been swapped from when it was constructed.

Returns

true if swapped, false if not.

mayIntersect()

bool SurgSim::Collision::CollisionPair::mayIntersect

(

)

const

Returns

whether the two represenations might have an intersection

Note

The bounding boxes are taken, if the bounding box is empty it is always considered for collision

setRepresentations()

void SurgSim::Collision::CollisionPair::setRepresentations	(	const std::shared_ptr< Representation > &	first,
		const std::shared_ptr< Representation > &	second
	)

Sets the representations in this pair, representations cannot be the same instance and neither can be nullptr.

Parameters

first	The first Collision Representation.
second	The second Collision Representation.

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

• SurgSim/Collision/CollisionPair.h
• SurgSim/Collision/CollisionPair.cpp