moveit2
The MoveIt Motion Planning Framework for ROS 2.
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Callback structure for both discrete and continuous broadphase collision pair. More...
#include <bullet_utils.h>
Public Member Functions | |
BroadphaseContactResultCallback (ContactTestData &collisions, double contact_distance, const collision_detection::AllowedCollisionMatrix *acm, bool self, bool cast=false) | |
~BroadphaseContactResultCallback ()=default | |
bool | needsCollision (const CollisionObjectWrapper *cow0, const CollisionObjectWrapper *cow1) const |
This callback is used for each overlapping pair in a pair cache of the broadphase interface to check if a collision check should done for the pair. More... | |
btScalar | addSingleResult (btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) |
This callback is used after btManifoldResult processed a collision result. More... | |
Public Attributes | |
ContactTestData & | collisions_ |
double | contact_distance_ |
const collision_detection::AllowedCollisionMatrix * | acm_ { nullptr } |
bool | self_ |
Indicates if the callback is used for only self-collision checking. More... | |
bool | cast_ { false } |
Indicates if the callback is used for casted collisions. More... | |
Callback structure for both discrete and continuous broadphase collision pair.
/e needsCollision is the callback executed before a narrowphase check is executed. /e addSingleResult is the callback executed after the narrowphase check delivers a result.
Definition at line 531 of file bullet_utils.h.
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inline |
Definition at line 543 of file bullet_utils.h.
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default |
btScalar collision_detection_bullet::BroadphaseContactResultCallback::addSingleResult | ( | btManifoldPoint & | cp, |
const btCollisionObjectWrapper * | colObj0Wrap, | ||
int | partId0, | ||
int | index0, | ||
const btCollisionObjectWrapper * | colObj1Wrap, | ||
int | partId1, | ||
int | index1 | ||
) |
This callback is used after btManifoldResult processed a collision result.
Definition at line 474 of file bullet_utils.cpp.
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inline |
This callback is used for each overlapping pair in a pair cache of the broadphase interface to check if a collision check should done for the pair.
Definition at line 554 of file bullet_utils.h.
const collision_detection::AllowedCollisionMatrix* collision_detection_bullet::BroadphaseContactResultCallback::acm_ { nullptr } |
Definition at line 535 of file bullet_utils.h.
bool collision_detection_bullet::BroadphaseContactResultCallback::cast_ { false } |
Indicates if the callback is used for casted collisions.
Definition at line 541 of file bullet_utils.h.
ContactTestData& collision_detection_bullet::BroadphaseContactResultCallback::collisions_ |
Definition at line 533 of file bullet_utils.h.
double collision_detection_bullet::BroadphaseContactResultCallback::contact_distance_ |
Definition at line 534 of file bullet_utils.h.
bool collision_detection_bullet::BroadphaseContactResultCallback::self_ |
Indicates if the callback is used for only self-collision checking.
Definition at line 538 of file bullet_utils.h.