Callback structure for both discrete and continuous broadphase collision pair. More...

#include <bullet_utils.hpp>

Collaboration diagram for collision_detection_bullet::BroadphaseContactResultCallback:

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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.

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.

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.

bool	cast_ { false }
	Indicates if the callback is used for casted collisions.

Detailed Description

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 530 of file bullet_utils.hpp.

Constructor & Destructor Documentation

◆ BroadphaseContactResultCallback()

collision_detection_bullet::BroadphaseContactResultCallback::BroadphaseContactResultCallback	(	ContactTestData &	collisions,
		double	contact_distance,
		const collision_detection::AllowedCollisionMatrix *	acm,
		bool	self,
		bool	cast = `false`
	)

inline

Definition at line 542 of file bullet_utils.hpp.

◆ ~BroadphaseContactResultCallback()

collision_detection_bullet::BroadphaseContactResultCallback::~BroadphaseContactResultCallback ( )

default

Member Function Documentation

◆ addSingleResult()

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 480 of file bullet_utils.cpp.

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◆ needsCollision()

bool collision_detection_bullet::BroadphaseContactResultCallback::needsCollision	(	const CollisionObjectWrapper *	cow0,
		const CollisionObjectWrapper *	cow1
	)		const

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 553 of file bullet_utils.hpp.

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Member Data Documentation

◆ acm_

const collision_detection::AllowedCollisionMatrix* collision_detection_bullet::BroadphaseContactResultCallback::acm_ { nullptr }

Definition at line 534 of file bullet_utils.hpp.

◆ cast_

bool collision_detection_bullet::BroadphaseContactResultCallback::cast_ { false }

Indicates if the callback is used for casted collisions.

Definition at line 540 of file bullet_utils.hpp.

◆ collisions_

ContactTestData& collision_detection_bullet::BroadphaseContactResultCallback::collisions_

Definition at line 532 of file bullet_utils.hpp.

◆ contact_distance_

double collision_detection_bullet::BroadphaseContactResultCallback::contact_distance_

Definition at line 533 of file bullet_utils.hpp.

◆ self_

bool collision_detection_bullet::BroadphaseContactResultCallback::self_

Indicates if the callback is used for only self-collision checking.

Definition at line 537 of file bullet_utils.hpp.

The documentation for this struct was generated from the following files:

moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_utils.hpp
moveit_core/collision_detection_bullet/src/bullet_integration/bullet_utils.cpp

Public Member Functions

Public Attributes