-
Notifications
You must be signed in to change notification settings - Fork 299
/
PipelineImpl.h
56 lines (44 loc) · 2.4 KB
/
PipelineImpl.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
/******************************************************************************
* SOFA, Simulation Open-Framework Architecture *
* (c) 2006 INRIA, USTL, UJF, CNRS, MGH *
* *
* This program is free software; you can redistribute it and/or modify it *
* under the terms of the GNU Lesser General Public License as published by *
* the Free Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. *
* *
* This program is distributed in the hope that it will be useful, but WITHOUT *
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
* for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with this program. If not, see <http://www.gnu.org/licenses/>. *
*******************************************************************************
* Authors: The SOFA Team and external contributors (see Authors.txt) *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#ifndef SOFA_SIMULATION_PIPELINEIMPL_H
#define SOFA_SIMULATION_PIPELINEIMPL_H
#include <sofa/core/collision/Pipeline.h>
#include <sofa/simulation/config.h>
namespace sofa::simulation
{
class SOFA_SIMULATION_CORE_API PipelineImpl : public sofa::core::collision::Pipeline
{
protected:
PipelineImpl();
~PipelineImpl() override;
public:
void init() override;
void reset() override;
/// Remove collision response from last step
void computeCollisionReset() override;
/// Detect new collisions. Note that this step must not modify the simulation graph
void computeCollisionDetection() override;
/// Add collision response in the simulation graph
void computeCollisionResponse() override;
};
} // namespace sofa::simulation
#endif