Base class to implement a contact filter, the job of this class is to be executed by the ContactFiltering stage in the PhysicsManager. More...

#include <ContactFilter.h>

Inheritance diagram for SurgSim::Collision::ContactFilter:

Public Member Functions
	ContactFilter (const std::string &name)
	Constructor.

void	filterContacts (const std::shared_ptr< Physics::PhysicsManagerState > &state, const std::shared_ptr< CollisionPair > &pair)
	Base function to filter the contacts on a collision pair this will modify the 'contacts' in the collision pair. More...

void	update (double dt)
	Base function to update the internal data structures with regard to the filtering operation, this should only be called once per iteration. More...

Public Member Functions inherited from SurgSim::Framework::Component
	Component (const std::string &name)
	Constructor. More...

virtual	~Component ()
	Destructor.

std::string	getName () const
	Gets component name. More...

std::string	getFullName () const
	Gets a string containing the name of the Component and (if it has one) its SceneElement. More...

void	setName (const std::string &name)
	Sets the name of component. More...

boost::uuids::uuid	getUuid () const
	Gets the id of the component.

bool	isInitialized () const

bool	initialize (const std::weak_ptr< Runtime > &runtime)
	Initialize this component, this needs to be called before wakeUp() can be called. More...

bool	isAwake () const

bool	wakeUp ()
	Wakeup this component, this will be called when the component is inserted into the ComponentManager that is responsible for handling this component. More...

void	retire ()
	Retire this component, this will be called when the component is removed from the ComponentManager that is responsible for handling this component. More...

void	setScene (std::weak_ptr< Scene > scene)
	Sets the scene. More...

std::shared_ptr< Scene >	getScene ()
	Gets the scene. More...

void	setSceneElement (std::weak_ptr< SceneElement > sceneElement)
	Sets the scene element. More...

std::shared_ptr< SceneElement >	getSceneElement ()
	Gets the scene element. More...

std::shared_ptr< const SceneElement >	getSceneElement () const
	Gets the scene element, constant version. More...

std::shared_ptr< Runtime >	getRuntime () const
	Get the runtime which contains this component. More...

virtual std::string	getClassName () const
	The class name for this class, this being the base class it should return SurgSim::Framework::Component but this would make missing implemenentations of this hard to catch, therefore this calls SURGSIM_FAILURE. More...

std::shared_ptr< Component >	getSharedPtr ()
	Gets a shared pointer to this component. More...

virtual bool	doInitialize ()=0
	Interface to be implemented by derived classes. More...

virtual bool	doWakeUp ()=0
	Interface to be implemented by derived classes. More...

virtual void	doRetire ()
	Interface to be implemented by derived classes Has a default implementation, does nothing.

bool	isActive () const

virtual void	setLocalActive (bool val)
	Set the component's active state. More...

bool	isLocalActive () const

Public Member Functions inherited from SurgSim::Framework::Accessible
	Accessible ()
	Default Constructor.

	~Accessible ()
	Destructor.

template<class T >
T	getValue (const std::string &name) const
	Retrieves the value with the name by executing the getter if it is found and tries to convert it to the given type. More...

boost::any	getValue (const std::string &name) const
	Retrieves the value with the name by executing the getter if it is found. More...

template<class T >
bool	getValue (const std::string &name, T *value) const
	Retrieves the value with the name by executing the getter if it is found, and converts it to the type of the output parameter. More...

void	setValue (const std::string &name, const boost::any &value)
	Sets a value of a property that has setter. More...

bool	isReadable (const std::string &name) const
	Check whether a property is readable. More...

bool	isWriteable (const std::string &name) const
	Check whether a property is writable. More...

void	setGetter (const std::string &name, GetterType func)
	Sets a getter for a given property. More...

void	setSetter (const std::string &name, SetterType func)
	Sets a setter for a given property. More...

void	setAccessors (const std::string &name, GetterType getter, SetterType setter)
	Sets the accessors getter and setter in one function. More...

void	removeAccessors (const std::string &name)
	Removes all the accessors (getter and setter) for a given property. More...

void	forwardProperty (const std::string &name, const Accessible &target, const std::string &targetProperty)
	Adds a property with the given name that uses the targets accessors, in effect forwarding the value to the target. More...

void	setSerializable (const std::string &name, EncoderType encoder, DecoderType decoder)
	Sets the functions used to convert data from and to a YAML::Node. More...

void	setDecoder (const std::string &name, DecoderType decoder)
	Sets the functions used to convert data from a YAML::Node. More...

YAML::Node	encode () const
	Encode this Accessible to a YAML::Node. More...

void	decode (const YAML::Node &node, const std::vector< std::string > &ignoredProperties=std::vector< std::string >())
	Decode this Accessible from a YAML::Node, will throw an exception if the data type cannot be converted. More...

std::vector< std::string >	getProperties ()

template<>
boost::any	getValue (const std::string &name) const

Protected Member Functions
virtual void	doFilterContacts (const std::shared_ptr< Physics::PhysicsManagerState > &state, const std::shared_ptr< CollisionPair > &pair)=0
	Override this with the implementation of the filter, this has to be threadsafe, it will be called in parallel with different collision pairs. More...

virtual void	doUpdate (double dt)=0

Protected Member Functions inherited from SurgSim::Framework::Component
virtual std::shared_ptr< PoseComponent >	getPoseComponent ()
	Get the PoseComponent for this component. More...

virtual std::shared_ptr< const PoseComponent >	getPoseComponent () const
	Get the PoseComponent for this component, constant access. More...

Additional Inherited Members
Public Types inherited from SurgSim::Framework::Accessible
typedef std::function< boost::any(void)>	GetterType

typedef std::function< void(boost::any)>	SetterType

typedef std::function< YAML::Node(void)>	EncoderType

typedef std::function< void(const YAML::Node *)>	DecoderType

Public Types inherited from SurgSim::Framework::FactoryBase1< Component, std::string >
typedef ObjectFactory1< Component, std::string >	FactoryType

Static Public Member Functions inherited from SurgSim::Framework::FactoryBase1< Component, std::string >
static FactoryType &	getFactory ()

Detailed Description

Base class to implement a contact filter, the job of this class is to be executed by the ContactFiltering stage in the PhysicsManager.

Filters are being executed in parallel over all CollisionPair objects that have contacts, be careful with thread safety of the doFilterContacts function and all other writes to class members in your subclass

Member Function Documentation

§ doFilterContacts()

virtual void SurgSim::Collision::ContactFilter::doFilterContacts	(	const std::shared_ptr< Physics::PhysicsManagerState > &	state,
		const std::shared_ptr< CollisionPair > &	pair
	)

protectedpure virtual

Override this with the implementation of the filter, this has to be threadsafe, it will be called in parallel with different collision pairs.

Implemented in SurgSim::Collision::ElementContactFilter.

§ filterContacts()

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

Base function to filter the contacts on a collision pair this will modify the 'contacts' in the collision pair.

Parameters

state	the physics state
pair	the collision pair

§ update()

void SurgSim::Collision::ContactFilter::update ( double dt )

Base function to update the internal data structures with regard to the filtering operation, this should only be called once per iteration.

Parameters

dt	the time passed since the last call to update

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

SurgSim/Collision/ContactFilter.h
SurgSim/Collision/ContactFilter.cpp

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

§ doFilterContacts()

§ filterContacts()

§ update()