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.
  
  #include "SurgSim/Collision/OctreePlaneContact.h"
  
  using SurgSim::Math::PlaneShape;
  
  
  namespace SurgSim
  {
  namespace Collision
  {
  
  std::pair<int, int> OctreePlaneContact::getShapeTypes()
  {
  	return std::pair<int,int>(SurgSim::Math::SHAPE_TYPE_OCTREE, SurgSim::Math::SHAPE_TYPE_PLANE);
  }
  
  std::list<std::shared_ptr<Contact>> OctreePlaneContact::boxContactCalculation(
  		const SurgSim::Math::BoxShape& boxShape, const SurgSim::Math::RigidTransform3d& boxPose,
  		const SurgSim::Math::Shape& otherShape, const SurgSim::Math::RigidTransform3d& otherPose)
  {
  	return m_calculator.calculateDcdContact(boxShape, boxPose, static_cast<const PlaneShape&>(otherShape), otherPose);
  }
  
  };
  };
  