Generic contact strategy that find contacts between two different types of geometry. More...

#include <ContactStrategyGeometry.hpp>

Public Types
typedef rw::core::Ptr< ContactStrategyGeometry< A, B > >	Ptr
	smart pointer type to this class

Public Types inherited from ContactStrategy
typedef rw::core::Ptr< ContactStrategy >	Ptr
	smart pointer type to this class

Public Types inherited from ProximityStrategy
typedef rw::core::Ptr< ProximityStrategy >	Ptr
	smart pointer type to this class

Public Member Functions
	ContactStrategyGeometry ()
	Construct new strategy.

virtual	~ContactStrategyGeometry ()
	Destructor.

virtual rw::proximity::ProximityModel::Ptr	createModel ()
	creates an empty ProximityModel More...

virtual void	destroyModel (rw::proximity::ProximityModel *model)
	deallocates the memory used for model More...

virtual bool	addGeometry (rw::proximity::ProximityModel *model, const rw::geometry::Geometry &geom)

virtual bool	addGeometry (rw::proximity::ProximityModel *model, rw::geometry::Geometry::Ptr geom, bool forceCopy=false)

virtual bool	removeGeometry (rw::proximity::ProximityModel *model, const std::string &geomId)
	removes a geometry from a specific proximity model More...

virtual std::vector< std::string >	getGeometryIDs (rw::proximity::ProximityModel *model)
	the list of all geometry ids that are associated to the proximity model model is returned More...

virtual void	clear ()
	Clears any stored model information. More...

Public Member Functions inherited from ContactStrategy
	ContactStrategy ()
	Create new contact strategy.

virtual	~ContactStrategy ()
	Destruct contact strategy.

virtual bool	match (rw::core::Ptr< const rw::geometry::GeometryData > geoA, rw::core::Ptr< const rw::geometry::GeometryData > geoB)=0
	Test is this strategy can be used for the given geometries. More...

virtual std::vector< Contact >	findContacts (rw::proximity::ProximityModel::Ptr a, const rw::math::Transform3D<> &wTa, rw::proximity::ProximityModel::Ptr b, const rw::math::Transform3D<> &wTb) const
	Check if there is contact between two contact models. More...

virtual std::vector< Contact >	findContacts (rw::proximity::ProximityModel::Ptr a, const rw::math::Transform3D<> &wTa, rw::proximity::ProximityModel::Ptr b, const rw::math::Transform3D<> &wTb, ContactStrategyData &data) const
	Check if there is contact between two contact models using additional data. More...

virtual std::vector< Contact >	findContacts (rw::proximity::ProximityModel::Ptr a, const rw::math::Transform3D<> &wTa, rw::proximity::ProximityModel::Ptr b, const rw::math::Transform3D<> &wTb, ContactStrategyData &data, ContactStrategyTracking &tracking, rwsim::log::SimulatorLogScope *log=NULL) const =0
	Check if there is contact between two contact models using additional data and tracking of contacts. More...

virtual std::vector< Contact >	updateContacts (rw::proximity::ProximityModel::Ptr a, const rw::math::Transform3D<> &wTa, rw::proximity::ProximityModel::Ptr b, const rw::math::Transform3D<> &wTb, ContactStrategyData &data, ContactStrategyTracking &tracking, rwsim::log::SimulatorLogScope *log=NULL) const =0
	Update known contacts between two contact models. More...

virtual std::string	getName ()=0
	Get the name of the strategy as a string. More...

virtual bool	addGeometry (rw::proximity::ProximityModel *model, rw::core::Ptr< rw::geometry::Geometry > geom, bool forceCopy=false)=0

virtual rw::core::PropertyMap &	getPropertyMap ()
	Get the properties used by the contact strategy. More...

virtual const rw::core::PropertyMap &	getPropertyMap () const
	Get the properties used by the contact strategy. More...

virtual void	setPropertyMap (const rw::core::PropertyMap &map)
	Set which properties the contact strategy should use. More...

Public Member Functions inherited from ProximityStrategy
virtual	~ProximityStrategy ()
	Destructor.

virtual bool	addModel (rw::core::Ptr< rw::models::Object > object)
	Adds a Proximity model of a frame to this strategy. More...

virtual bool	addModel (const rw::core::Ptr< rw::kinematics::Frame > frame, const rw::geometry::Geometry &faces)
	Adds a Proximity model to a frame where the geometry is copied in the underlying proximity strategy. More...

virtual bool	addModel (const rw::core::Ptr< rw::kinematics::Frame > frame, rw::core::Ptr< rw::geometry::Geometry > faces, bool forceCopy=false)
	Adds a Proximity model to a frame. More...

virtual bool	hasModel (const rw::core::Ptr< rw::kinematics::Frame > frame)
	Tells whether the frame has a proximity model in the strategy. More...

virtual void	clearFrame (const rw::core::Ptr< rw::kinematics::Frame > frame)
	Clear (remove all) model information for frame frame.

virtual void	clearFrames ()
	Clear (remove all) model information for all frames.

ProximityModel::Ptr	getModel (const rw::core::Ptr< rw::kinematics::Frame > frame)
	get the proximitymodel associated to frame. If no model has been associated to frame then NULL is returned. More...

virtual std::vector< rw::core::Ptr< rw::geometry::Geometry > >	getGeometries (rw::proximity::ProximityModel *model)=0
	the list of all geometry that are associated to the proximity model model is returned More...

	DEPRECATED ("This function is deprecated due to a spelling mistake, use the correct " "spelling \"getGeometries\" instead") std

void	useThreads (int threads)
	setNumber of threads the strategy may use More...

Protected Types
typedef ContactModelGeometry< A, B >	GeometryModel
	The type of the contact model.

Additional Inherited Members
Protected Member Functions inherited from ProximityStrategy
	ProximityStrategy ()
	Creates object.

Protected Attributes inherited from ContactStrategy
rw::core::PropertyMap	_propertyMap
	Properties for strategy.

Protected Attributes inherited from ProximityStrategy
size_t	_threads
	the number of threads the strategy may use