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/UnitTests/RepresentationUtilities.h"
  #include "SurgSim/Collision/ShapeCollisionRepresentation.h"
  
  #include "SurgSim/Collision/Representation.h"
  #include "SurgSim/Physics/RigidRepresentation.h"
  
  #include "SurgSim/Math/Shapes.h"
  #include "SurgSim/Math/RigidTransform.h"
  
  using SurgSim::Math::Quaterniond;
  using SurgSim::Math::Vector3d;
  
  namespace SurgSim
  {
  namespace Collision
  {
  
  std::shared_ptr<SurgSim::Collision::Representation> makeSphereRepresentation(
  	const double& radius,
  	const Quaterniond& rotation,
  	const Vector3d& position)
  {
  
  	std::shared_ptr<SurgSim::Math::Shape> sphere = std::make_shared<SurgSim::Math::SphereShape>(radius);
  	auto result = std::make_shared<ShapeCollisionRepresentation>("TestSphereShapeCollisionRep");
  	result->setShape(sphere);
  	result->setLocalPose(SurgSim::Math::makeRigidTransform(rotation, position));
  
  	return result;
  }
  
  std::shared_ptr<SurgSim::Collision::Representation> makeDoubleSidedPlaneRepresentation(
  	const Quaterniond& rotation,
  	const Vector3d& position)
  {
  	std::shared_ptr<SurgSim::Math::Shape> plane = std::make_shared<SurgSim::Math::DoubleSidedPlaneShape>();
  	auto result = std::make_shared<ShapeCollisionRepresentation>("TestDoubleSidedPlaneCollisionRep");
  	result->setShape(plane);
  	result->setLocalPose(SurgSim::Math::makeRigidTransform(rotation, position));
  
  	return result;
  }
  
  std::shared_ptr<SurgSim::Collision::Representation> makePlaneRepresentation(
  	const Quaterniond& rotation,
  	const Vector3d& position)
  {
  	std::shared_ptr<SurgSim::Math::Shape> plane = std::make_shared<SurgSim::Math::PlaneShape>();
  	auto result = std::make_shared<ShapeCollisionRepresentation>("TestPlaneRepresentation");
  	result->setShape(plane);
  	result->setLocalPose(SurgSim::Math::makeRigidTransform(rotation, position));
  
  	return result;
  }
  
  std::shared_ptr<SurgSim::Collision::Representation> makeCapsuleRepresentation(
  	const double& length,
  	const double& radius,
  	const Quaterniond& rotation,
  	const Vector3d& position)
  {
  
  	std::shared_ptr<SurgSim::Math::Shape> capsule = std::make_shared<SurgSim::Math::CapsuleShape>(length, radius);
  	auto result = std::make_shared<ShapeCollisionRepresentation>("TestCapsuleShapeCollisionRep");
  	result->setShape(capsule);
  	result->setLocalPose(SurgSim::Math::makeRigidTransform(rotation, position));
  
  	return result;
  }
  
  }; // Collision
  }; // SurgSim
  