/usr/include/SurgSim/Physics/DeformableCollisionRepresentation.h is in libopensurgsim-dev 0.7.0-5.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 | // This file is a part of the OpenSurgSim project.
// Copyright 2013, 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_PHYSICS_DEFORMABLECOLLISIONREPRESENTATION_H
#define SURGSIM_PHYSICS_DEFORMABLECOLLISIONREPRESENTATION_H
#include <memory>
#include <string>
#include "SurgSim/Collision/Representation.h"
#include "SurgSim/Framework/ObjectFactory.h"
namespace SurgSim
{
namespace Math
{
class Shape;
class MeshShape;
}
namespace Physics
{
class DeformableRepresentation;
SURGSIM_STATIC_REGISTRATION(DeformableCollisionRepresentation);
/// A collision representation that can be attached to a deformable, when this contains a mesh with the same number
/// of vertices as the deformable has nodes, the mesh vertices will move to match the positions of the nodes in
/// the deformable.
class DeformableCollisionRepresentation : public SurgSim::Collision::Representation
{
public:
/// Constructor
/// \param name Name of the Representation
explicit DeformableCollisionRepresentation(const std::string& name);
/// Destructor
virtual ~DeformableCollisionRepresentation();
SURGSIM_CLASSNAME(SurgSim::Physics::DeformableCollisionRepresentation);
/// Set the shape for this collision representation, has to be a SurgSim::Math::MeshShape.
/// The vertices in the mesh need to be the same number as the vertices in the deformable representation.
/// \param shape The shape to be used.
void setShape(std::shared_ptr<SurgSim::Math::Shape> shape);
const std::shared_ptr<SurgSim::Math::Shape> getShape() const override;
/// Sets the deformable to which this collision representation is connected
/// \param representation The deformable that will be used to update the contained mesh
void setDeformableRepresentation(std::shared_ptr<SurgSim::Physics::DeformableRepresentation> representation);
/// \return The deformable that is used to update the contained mesh
const std::shared_ptr<SurgSim::Physics::DeformableRepresentation> getDeformableRepresentation() const;
int getShapeType() const override;
void updateDcdData() override;
void updateCcdData(double interval) override;
void updateShapeData() override;
private:
bool doInitialize() override;
bool doWakeUp() override;
/// Shape used for collision detection
std::shared_ptr<SurgSim::Math::Shape> m_shape, m_previousShape;
/// Reference to the deformable driving changes to this mesh
std::weak_ptr<SurgSim::Physics::DeformableRepresentation> m_deformable;
};
} // namespace Physics
} // namespace SurgSim
#endif
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