A bounding volume hierarchy (BVH) implementation of a discrete bullet manager. More...

#include <bullet_discrete_bvh_manager.h>

Inheritance diagram for collision_detection_bullet::BulletDiscreteBVHManager:

Collaboration diagram for collision_detection_bullet::BulletDiscreteBVHManager:

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Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	BulletDiscreteBVHManager ()=default
	Constructor.

	~BulletDiscreteBVHManager () override=default

BulletDiscreteBVHManagerPtr	clone () const
	Clone the manager.

void	contactTest (collision_detection::CollisionResult &collisions, const collision_detection::CollisionRequest &req, const collision_detection::AllowedCollisionMatrix *acm, bool self) override
	Perform a contact test for all objects in the manager.

void	addCollisionObject (const CollisionObjectWrapperPtr &cow) override
	Add a bullet collision object to the manager.

Public Member Functions inherited from collision_detection_bullet::BulletBVHManager
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	BulletBVHManager ()
	Constructor.

virtual	~BulletBVHManager ()

BulletBVHManagerPtr	clone () const
	Clone the manager.

bool	hasCollisionObject (const std::string &name) const
	Find if a collision object already exists.

bool	removeCollisionObject (const std::string &name)
	Remove an object from the checker.

bool	enableCollisionObject (const std::string &name)
	Enable an object.

bool	disableCollisionObject (const std::string &name)
	Disable an object.

void	setCollisionObjectsTransform (const std::string &name, const Eigen::Isometry3d &pose)
	Set a single static collision object's transform.

void	setActiveCollisionObjects (const std::vector< std::string > &names)
	Set which collision objects are active.

const std::vector< std::string > &	getActiveCollisionObjects () const
	Get which collision objects are active.

void	setContactDistanceThreshold (double contact_distance)
	Set the contact distance threshold for which collision should be considered through expanding the AABB by the contact_distance for all links.

double	getContactDistanceThreshold () const
	Get the contact distance threshold.

const std::map< std::string, CollisionObjectWrapperPtr > &	getCollisionObjects () const

Additional Inherited Members
Protected Attributes inherited from collision_detection_bullet::BulletBVHManager
std::map< std::string, CollisionObjectWrapperPtr >	link2cow_
	A map of collision objects being managed.

std::vector< std::string >	active_
	A list of the active collision links.

double	contact_distance_
	The contact distance threshold.

std::unique_ptr< btCollisionDispatcher >	dispatcher_
	The bullet collision dispatcher used for getting object to object collision algorithm.

btDispatcherInfo	dispatch_info_
	The bullet collision dispatcher configuration information.

btDefaultCollisionConfiguration	coll_config_
	The bullet collision configuration.

std::unique_ptr< btBroadphaseInterface >	broadphase_
	The bullet broadphase interface.

BroadphaseFilterCallback	filter_callback_
	Callback function for culling objects before a broadphase check.

Detailed Description

A bounding volume hierarchy (BVH) implementation of a discrete bullet manager.

Definition at line 45 of file bullet_discrete_bvh_manager.h.

Constructor & Destructor Documentation

◆ BulletDiscreteBVHManager()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW collision_detection_bullet::BulletDiscreteBVHManager::BulletDiscreteBVHManager ( )

default

Constructor.

◆ ~BulletDiscreteBVHManager()

collision_detection_bullet::BulletDiscreteBVHManager::~BulletDiscreteBVHManager ( )

overridedefault

Member Function Documentation

◆ addCollisionObject()

void collision_detection_bullet::BulletDiscreteBVHManager::addCollisionObject ( const CollisionObjectWrapperPtr & cow )

overridevirtual

Add a bullet collision object to the manager.

Parameters

cow	The bullet collision object

Implements collision_detection_bullet::BulletBVHManager.

Definition at line 83 of file bullet_discrete_bvh_manager.cpp.

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◆ clone()

BulletDiscreteBVHManagerPtr collision_detection_bullet::BulletDiscreteBVHManager::clone ( ) const

Clone the manager.

This is to be used for multi threaded applications. A user should make a clone for each thread.

Definition at line 42 of file bullet_discrete_bvh_manager.cpp.

◆ contactTest()

void collision_detection_bullet::BulletDiscreteBVHManager::contactTest	(	collision_detection::CollisionResult &	collisions,
		const collision_detection::CollisionRequest &	req,
		const collision_detection::AllowedCollisionMatrix *	acm,
		bool	self
	)