Collision.h

Go to the documentation of this file.

#ifndef COLLISION_H
#define COLLISION_H

#include "cppTypes.h"

template <typename T>
class Collision {
 public:
  Collision(const T& mu, const T& resti) : _mu(mu), _restitution_coeff(resti) {}
  virtual ~Collision() {}

  virtual bool ContactDetection(const Vec3<T>& cp_pos, T& penetration,
                                Mat3<T>& cp_frame) = 0;

  const T& getFrictionCoeff() { return _mu; }
  const T& getRestitutionCoeff() { return _restitution_coeff; }

 protected:
  T _mu, _restitution_coeff;
};

#endif  // COLLISION_H