16 #ifndef SURGSIM_COLLISION_COLLISIONPAIR_H 17 #define SURGSIM_COLLISION_COLLISIONPAIR_H 63 const std::shared_ptr<Representation>& second);
71 void setRepresentations(
const std::shared_ptr<Representation>& first,
72 const std::shared_ptr<Representation>& second);
76 const std::pair<std::shared_ptr<Representation>, std::shared_ptr<Representation>>&
77 getRepresentations()
const;
80 std::shared_ptr<Representation> getFirst()
const;
83 std::shared_ptr<Representation> getSecond()
const;
86 bool hasContacts()
const;
93 void addContact(
const double&
depth,
103 void addContact(
const double& depth,
110 void addContact(
const std::shared_ptr<Contact>&
contact);
113 const std::list<std::shared_ptr<Contact>>& getContacts()
const;
116 void clearContacts();
119 void swapRepresentations();
123 bool isSwapped()
const;
128 std::pair<std::shared_ptr<Representation>,
Definition: DriveElementFromInputBehavior.cpp:27
std::pair< std::shared_ptr< Representation >, std::shared_ptr< Representation > > m_representations
Pair of objects that are colliding.
Definition: CollisionPair.h:129
Definition: Location.h:31
Collision Pair class, it signifies a pair of items that should be checked with the collision algorith...
Definition: CollisionPair.h:55
bool m_isSwapped
Definition: CollisionPair.h:134
Definitions of small fixed-size vector types.
Eigen::Matrix< double, 3, 1 > Vector3d
A 3D vector of doubles.
Definition: Vector.h:56
std::list< std::shared_ptr< Contact > > m_contacts
List of current contacts.
Definition: CollisionPair.h:132