Computation to determine the contacts between a list of CollisionPairs. More...
#include <DcdCollision.h>
Inheritance diagram for SurgSim::Physics::DcdCollision:
Public Member Functions | |
| DcdCollision (bool doCopyState=false) | |
| Constructor. More... | |
| SURGSIM_CLASSNAME (SurgSim::Physics::DcdCollision) | |
| virtual | ~DcdCollision () |
| Destructor. | |
 Public Member Functions inherited from SurgSim::Physics::Computation | |
| Computation (bool doCopyState) | |
| Constructor. More... | |
| virtual | ~Computation () |
| Destructor. | |
| std::shared_ptr< PhysicsManagerState > | update (double dt, const std::shared_ptr< PhysicsManagerState > &state) |
| Public Interface execute this objects computations, dt is the time from the last update call in seconds. More... | |
| void | setDoCopyState (bool val) |
| Sets up whether the computation will copy the state of PhysicsManagerState before executing. More... | |
| bool | isCopyingState () |
| Query if this object is copying the PhysicsManagerState. More... | |
| virtual std::string | getClassName () const =0 |
| The class name for this class. More... | |
| Framework::Timer & | getTimer () |
| Provides access to the update timer. More... | |
Protected Member Functions | |
| std::shared_ptr< PhysicsManagerState > | doUpdate (const double &dt, const std::shared_ptr< PhysicsManagerState > &state) override |
| Executes the update operation, overridden from Computation. More... | |
Detailed Description
Computation to determine the contacts between a list of CollisionPairs.
This Computation class takes a list of representations, it will generate a list of collision pairs from this list on every frame, for each CollisionPair, it uses a two dimensional table of function objects (ContactCalculation) to determine how to calculate a contact between the two members of each pair, if no specific function exists a default function will be used. will update the collision pairs accordingly.
- Note
- When a new ContactCalculation type gets implemented, the type needs to be registered with the table inside of ContactCalculation
Constructor & Destructor Documentation
§ DcdCollision()
|
explicit |
Constructor.
- Parameters
-
doCopyState Specify if the output state in Computation::Update() is a copy or not of the input state
Member Function Documentation
§ doUpdate()
|
overrideprotectedvirtual |
Executes the update operation, overridden from Computation.
- Parameters
-
dt The time passed. state The PhysicsManagerState from previous computation.
Implements SurgSim::Physics::Computation.
The documentation for this class was generated from the following files:
- SurgSim/Physics/DcdCollision.h
- SurgSim/Physics/DcdCollision.cpp
