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16 #ifndef SURGSIM_PHYSICS_PREPARECOLLISIONPAIRS_H
17 #define SURGSIM_PHYSICS_PREPARECOLLISIONPAIRS_H
29 class ContactCalculation;
39 class PhysicsManagerState;
62 std::shared_ptr<PhysicsManagerState>
doUpdate(
const double& dt,
const std::shared_ptr<PhysicsManagerState>& state)
76 #endif // SURGSIM_PHYSICS_PREPARECOLLISIONPAIRS_H
virtual ~PrepareCollisionPairs()
Destructor.
Definition: PrepareCollisionPairs.cpp:37
SURGSIM_CLASSNAME(SurgSim::Physics::PrepareCollisionPairs)
std::shared_ptr< Framework::Logger > m_logger
The logger.
Definition: PrepareCollisionPairs.h:70
Definition: CompoundShapeToGraphics.cpp:29
Computation to determine the contacts between a list of CollisionPairs.
Definition: PrepareCollisionPairs.h:49
std::shared_ptr< PhysicsManagerState > doUpdate(const double &dt, const std::shared_ptr< PhysicsManagerState > &state) override
Override this function to implement the computations specific behavior.
Definition: PrepareCollisionPairs.cpp:41
double m_timeSinceLog
The time since the collision pairs were last logged.
Definition: PrepareCollisionPairs.h:67
PrepareCollisionPairs(bool doCopyState=false)
Constructor.
Definition: PrepareCollisionPairs.cpp:30
Encapsulates a calculation over a selection of objects, needs to be subclassed to be used.
Definition: Computation.h:32