/usr/include/SurgSim/Physics/ContactConstraintGeneration.h is in libopensurgsim-dev 0.7.0-6ubuntu1.
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 92 93 94 95 96 97 98 | // 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_CONTACTCONSTRAINTGENERATION_H
#define SURGSIM_PHYSICS_CONTACTCONSTRAINTGENERATION_H
#include <memory>
#include "SurgSim/Framework/Macros.h"
#include "SurgSim/Physics/Computation.h"
namespace SurgSim
{
namespace Framework
{
class Logger;
}
namespace DataStructures
{
struct Location;
}
namespace Collision
{
class Representation;
}
namespace Physics
{
class Localization;
class PhysicsManagerState;
class Representation;
/// Generate a constraint for every contact that was calculated.
/// The general algorithm is such, for each pair of Collision Representations that has Contacts
/// For each contact:
/// - Generate a localization for each side of the pair
/// - Find the correct CollisionImplementation for the Representation and type of constraint, note that currently
/// we use only one type of constraint for the collision
/// - Create the ConstraintData for the contact with
/// - Create a constraint from, the ContactImplmentation, Localization and ConstraintData
/// - Add it to the list of Constraints
/// At the end those constraints are added as contact constraints to the physics state
class ContactConstraintGeneration : public Computation
{
public:
/// Constructor
/// \param doCopyState Specify if the output state in Computation::Update() is a copy or not of the input state
explicit ContactConstraintGeneration(bool doCopyState = false);
SURGSIM_CLASSNAME(SurgSim::Physics::ContactConstraintGeneration);
/// Destructor
~ContactConstraintGeneration();
private:
/// The logger for this class
std::shared_ptr<SurgSim::Framework::Logger> m_logger;
/// Overridden function from Computation, the actual work is done here
/// \param dt The time passed from the last update in seconds.
/// \param state The physics state.
/// \return The changed state of the, depending on the setting of doCopyState this is either the same instance
/// or a copied instance of the physics state.
std::shared_ptr<PhysicsManagerState> doUpdate(const double& dt, const std::shared_ptr<PhysicsManagerState>& state)
override;
/// Generate a location from a Collision Representation.
/// \param physicsRepresentation The physics representation.
/// \param collisionRepresentation The collision representation.
/// \param location The location generated by the contact calculation.
/// \return The localization for the collision representations physics representation.
/// \note Asserts if cannot Location create shared object.
std::shared_ptr<SurgSim::DataStructures::Location> makeLocation(
std::shared_ptr<SurgSim::Physics::Representation> physicsRepresentation,
std::shared_ptr<SurgSim::Collision::Representation> collisionRepresentation,
const SurgSim::DataStructures::Location& location);
};
}; // Physics
}; // SurgSim
#endif
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