FreeMotion.h
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1 // This file is a part of the OpenSurgSim project.
2 // Copyright 2013, SimQuest Solutions Inc.
3 //
4 // Licensed under the Apache License, Version 2.0 (the "License");
5 // you may not use this file except in compliance with the License.
6 // You may obtain a copy of the License at
7 //
8 // http://www.apache.org/licenses/LICENSE-2.0
9 //
10 // Unless required by applicable law or agreed to in writing, software
11 // distributed under the License is distributed on an "AS IS" BASIS,
12 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 // See the License for the specific language governing permissions and
14 // limitations under the License.
15 
16 #ifndef SURGSIM_PHYSICS_FREEMOTION_H
17 #define SURGSIM_PHYSICS_FREEMOTION_H
18 
19 #include <memory>
20 #include <vector>
21 
22 
24 
25 namespace SurgSim
26 {
27 namespace Physics
28 {
29 
30 class Representation;
31 
33 class FreeMotion : public Computation
34 {
35 public:
36 
39  explicit FreeMotion(bool doCopyState = false);
40 
42  ~FreeMotion();
43 
44 protected:
45 
47  virtual std::shared_ptr<PhysicsManagerState> doUpdate(
48  const double& dt,
49  const std::shared_ptr<PhysicsManagerState>& state) override;
50 
51 };
52 
53 }; // Physics
54 }; // SurgSim
55 
56 #endif
Definition: DriveElementFromInputBehavior.cpp:27
FreeMotion(bool doCopyState=false)
Constructor.
Definition: FreeMotion.cpp:30
virtual std::shared_ptr< PhysicsManagerState > doUpdate(const double &dt, const std::shared_ptr< PhysicsManagerState > &state) override
Override doUpdate from superclass.
Definition: FreeMotion.cpp:40
Apply the Freemotion calcluation to all physics representations.
Definition: FreeMotion.h:33
~FreeMotion()
Destructor.
Definition: FreeMotion.cpp:35
Encapsulates a calculation over a selection of objects, needs to be subclassed to be used...
Definition: Computation.h:30