text: // This file is a part of the OpenSurgSim project.
  // Copyright 2013, SimQuest Solutions Inc.
  //
  // Licensed under the Apache License, Version 2.0 (the "License");
  // you may not use this file except in compliance with the License.
  // You may obtain a copy of the License at
  //
  //     http://www.apache.org/licenses/LICENSE-2.0
  //
  // Unless required by applicable law or agreed to in writing, software
  // distributed under the License is distributed on an "AS IS" BASIS,
  // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  // See the License for the specific language governing permissions and
  // limitations under the License.
  
  #ifndef SURGSIM_COLLISION_SEGMENTMESHTRIANGLEMESHCONTACT_H
  #define SURGSIM_COLLISION_SEGMENTMESHTRIANGLEMESHCONTACT_H
  
  #include <memory>
  
  #include "SurgSim/Collision/ShapeShapeContactCalculation.h"
  #include "SurgSim/Math/MeshShape.h"
  #include "SurgSim/Math/SegmentMeshShape.h"
  
  namespace SurgSim
  {
  namespace Collision
  {
  
  class CollisionPair;
  
  /// Class to calculate intersections between a segment mesh and a triangle mesh
  class SegmentMeshTriangleMeshContact : public ShapeShapeContactCalculation<Math::SegmentMeshShape, Math::MeshShape>
  {
  public:
  	using ContactCalculation::calculateDcdContact;
  
  	std::pair<int, int> getShapeTypes() override;
  
  	std::list<std::shared_ptr<Contact>> calculateDcdContact(
  										 const Math::SegmentMeshShape& segmentMeshShape,
  										 const Math::RigidTransform3d& segmentMeshPose,
  										 const Math::MeshShape& triangleMeshShape,
  										 const Math::RigidTransform3d& triangleMeshPose) const override;
  
  	std::list<std::shared_ptr<Contact>> calculateCcdContact(
  		const Math::SegmentMeshShape& shape1AtTime0, const Math::RigidTransform3d& pose1AtTime0,
  		const Math::SegmentMeshShape& shape1AtTime1, const Math::RigidTransform3d& pose1AtTime1,
  		const Math::MeshShape& shape2AtTime0, const Math::RigidTransform3d& pose2AtTime0,
  		const Math::MeshShape& shape2AtTime1, const Math::RigidTransform3d& pose2AtTime1) const override;
  };
  
  }; // namespace Collision
  }; // namespace SurgSim
  
  #endif // SURGSIM_COLLISION_SEGMENTMESHTRIANGLEMESHCONTACT_H
  