/usr/include/SurgSim/Physics/RigidCollisionRepresentation.h is in libopensurgsim-dev 0.7.0-5.
This file is owned by root:root, with mode 0o644.
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// 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_RIGIDCOLLISIONREPRESENTATION_H
#define SURGSIM_PHYSICS_RIGIDCOLLISIONREPRESENTATION_H
#include <memory>
#include "SurgSim/Collision/Representation.h"
#include "SurgSim/Framework/ObjectFactory.h"
namespace SurgSim
{
namespace Physics
{
class RigidRepresentationBase;
SURGSIM_STATIC_REGISTRATION(RigidCollisionRepresentation);
/// Collision Representation class that wraps a RigidRepresentation, this can be used to strictly tie the
/// Collision Representation to the Rigid, so even if the shape of the rigid changes, the collision representation
/// will use the appropriate shape.
class RigidCollisionRepresentation : public SurgSim::Collision::Representation
{
public:
/// Constructor
/// \param name The name of rigid collision representation
explicit RigidCollisionRepresentation(const std::string& name);
/// Destructor
virtual ~RigidCollisionRepresentation();
SURGSIM_CLASSNAME(SurgSim::Physics::RigidCollisionRepresentation);
/// Get the pose of the representation
/// \return The pose of this representation
SurgSim::Math::RigidTransform3d getPose() const override;
/// Get the shape type id
/// \return The unique type of the shape, used to determine which calculation to use.
int getShapeType() const override;
/// Get the shape
/// \return The actual shape used for collision.
const std::shared_ptr<SurgSim::Math::Shape> getShape() const override;
/// Set the shape
/// The default is to use the shape of the Rigid Representation, this
/// will override that shape.
/// \param shape The actual shape used for collision, if nullptr the Rigid Representation shape will be used.
void setShape(std::shared_ptr<SurgSim::Math::Shape> shape);
/// Set rigid representation
/// \param representation The rigid representation
void setRigidRepresentation(std::shared_ptr<SurgSim::Physics::RigidRepresentationBase> representation);
/// Gets physics representation.
/// \return The physics representation.
std::shared_ptr<SurgSim::Physics::RigidRepresentationBase> getRigidRepresentation();
void updateShapeData() override;
void updateDcdData() override;
void updateCcdData(double timeOfImpact) override;
private:
std::weak_ptr<SurgSim::Physics::RigidRepresentationBase> m_physicsRepresentation;
std::shared_ptr<SurgSim::Math::Shape> m_shape;
};
}; // namespace Collision
}; // namespace SurgSim
#endif // SURGSIM_PHYSICS_RIGIDCOLLISIONREPRESENTATION_H
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