16 #ifndef SURGSIM_PHYSICS_DEFORMABLECOLLISIONREPRESENTATION_H 17 #define SURGSIM_PHYSICS_DEFORMABLECOLLISIONREPRESENTATION_H 27 namespace DataStructures
40 class DeformableRepresentation;
64 void setMesh(std::shared_ptr<SurgSim::DataStructures::TriangleMesh> mesh);
67 std::shared_ptr<SurgSim::DataStructures::TriangleMesh> getMesh()
const;
72 void setShape(std::shared_ptr<SurgSim::Math::Shape> shape);
74 virtual const std::shared_ptr<SurgSim::Math::Shape> getShape()
const override;
78 void setDeformableRepresentation(std::shared_ptr<SurgSim::Physics::DeformableRepresentation> representation);
81 const std::shared_ptr<SurgSim::Physics::DeformableRepresentation> getDeformableRepresentation()
const;
83 virtual int getShapeType()
const override;
85 virtual void update(
const double& dt)
override;
88 virtual bool doInitialize()
override;
89 virtual bool doWakeUp()
override;
92 std::shared_ptr<SurgSim::Math::MeshShape>
m_shape;
95 std::shared_ptr<SurgSim::DataStructures::TriangleMesh>
m_mesh;
98 std::weak_ptr<SurgSim::Physics::DeformableRepresentation>
m_deformable;
Definition: DriveElementFromInputBehavior.cpp:27
SURGSIM_STATIC_REGISTRATION(SerializationMockComponent)
string(TOUPPER ${DEVICE}DEVICE_UPPER_CASE) option(BUILD_DEVICE_ $
Definition: CMakeLists.txt:35
#define SURGSIM_CLASSNAME(ClassName)
Declare the class name of a class with the appropriate function header, do not use quotes...
Definition: Macros.h:21
Wrapper class to use for the collision operation, handles its enclosed shaped and a possible local to...
Definition: Representation.h:52