bullet_utils.h File Reference

Tesseract ROS Bullet environment utility function. More...

#include <tesseract/common/macros.h>
#include <BulletCollision/CollisionShapes/btCollisionShape.h>
#include <BulletCollision/CollisionDispatch/btManifoldResult.h>
#include <btBulletCollisionCommon.h>
#include <console_bridge/console.h>
#include <tesseract/collision/types.h>
#include <tesseract/collision/common.h>
#include <tesseract/collision/bullet/bullet_collision_shape_cache.h>

Classes
class	tesseract::collision::bullet_internal::CollisionObjectWrapper
	This is a tesseract bullet collsion object. More...
struct	tesseract::collision::bullet_internal::CastHullShape
	This is a casted collision shape used for checking if an object is collision free between two transforms. More...
struct	tesseract::collision::bullet_internal::TesseractBridgedManifoldResult
	This is copied directly out of BulletWorld. More...
struct	tesseract::collision::bullet_internal::BroadphaseContactResultCallback
	The BroadphaseContactResultCallback is used to report contact points. More...
struct	tesseract::collision::bullet_internal::DiscreteBroadphaseContactResultCallback
struct	tesseract::collision::bullet_internal::CastBroadphaseContactResultCallback
struct	tesseract::collision::bullet_internal::TesseractBroadphaseBridgedManifoldResult
class	tesseract::collision::bullet_internal::TesseractCollisionPairCallback
	A callback function that is called as part of the broadphase collision checking. More...
class	tesseract::collision::bullet_internal::TesseractOverlapFilterCallback
	This class is used to filter broadphase. More...
struct	tesseract::collision::bullet_internal::DiscreteCollisionCollector
struct	tesseract::collision::bullet_internal::CastCollisionCollector

Typedefs
using	tesseract::collision::bullet_internal::COW = CollisionObjectWrapper
using	tesseract::collision::bullet_internal::Link2Cow = std::map< std::string, COW::Ptr >
using	tesseract::collision::bullet_internal::Link2ConstCow = std::map< std::string, COW::ConstPtr >

Functions
btVector3	tesseract::collision::bullet_internal::convertEigenToBt (const Eigen::Vector3d &v)
Eigen::Vector3d	tesseract::collision::bullet_internal::convertBtToEigen (const btVector3 &v)
btQuaternion	tesseract::collision::bullet_internal::convertEigenToBt (const Eigen::Quaterniond &q)
btMatrix3x3	tesseract::collision::bullet_internal::convertEigenToBt (const Eigen::Matrix3d &r)
Eigen::Matrix3d	tesseract::collision::bullet_internal::convertBtToEigen (const btMatrix3x3 &r)
btTransform	tesseract::collision::bullet_internal::convertEigenToBt (const Eigen::Isometry3d &t)
Eigen::Isometry3d	tesseract::collision::bullet_internal::convertBtToEigen (const btTransform &t)
void	tesseract::collision::bullet_internal::GetAverageSupport (const btConvexShape *shape, const btVector3 &localNormal, btScalar &outsupport, btVector3 &outpt)
btTransform	tesseract::collision::bullet_internal::getLinkTransformFromCOW (const btCollisionObjectWrapper *cow)
	This transversus the parent tree to find the base object and return its world transform This should be the links transform and it should only need to transverse twice at max.
bool	tesseract::collision::bullet_internal::needsCollisionCheck (const COW &cow1, const COW &cow2, const std::shared_ptr< const tesseract::common::ContactAllowedValidator > &validator, bool verbose=false)
	This is used to check if a collision check is required between the provided two collision objects.
void	tesseract::collision::bullet_internal::calculateContinuousData (ContactResult *col, const btCollisionObjectWrapper *cow, const btVector3 &pt_world, const btVector3 &normal_world, const btTransform &link_tf_inv, size_t link_index)
	Calculate the continuous contact data for casted collision shape.
std::shared_ptr< BulletCollisionShape >	tesseract::collision::bullet_internal::createShapePrimitive (const CollisionShapeConstPtr &geom)
	Create a bullet collision shape from tesseract collision shape.
void	tesseract::collision::bullet_internal::updateCollisionObjectFilters (const std::vector< std::string > &active, const COW::Ptr &cow)
	Update a collision objects filters.
COW::Ptr	tesseract::collision::bullet_internal::createCollisionObject (const std::string &name, const int &type_id, const CollisionShapesConst &shapes, const tesseract::common::VectorIsometry3d &shape_poses, bool enabled=true)
COW::Ptr	tesseract::collision::bullet_internal::makeCastCollisionObject (const COW::Ptr &cow)
void	tesseract::collision::bullet_internal::updateBroadphaseAABB (const COW::Ptr &cow, const std::unique_ptr< btBroadphaseInterface > &broadphase, const std::unique_ptr< btCollisionDispatcher > &dispatcher)
	Update the Broadphase AABB for the input collision object.
void	tesseract::collision::bullet_internal::removeCollisionObjectFromBroadphase (const COW::Ptr &cow, const std::unique_ptr< btBroadphaseInterface > &broadphase, const std::unique_ptr< btCollisionDispatcher > &dispatcher)
	Remove the collision object from broadphase.
void	tesseract::collision::bullet_internal::addCollisionObjectToBroadphase (const COW::Ptr &cow, const std::unique_ptr< btBroadphaseInterface > &broadphase, const std::unique_ptr< btCollisionDispatcher > &dispatcher)
	Add the collision object to broadphase.
void	tesseract::collision::bullet_internal::updateCollisionObjectFilters (const std::vector< std::string > &active, const COW::Ptr &cow, const std::unique_ptr< btBroadphaseInterface > &broadphase, const std::unique_ptr< btCollisionDispatcher > &dispatcher)
	Update a collision objects filters for broadphase.
void	tesseract::collision::bullet_internal::refreshBroadphaseProxy (const COW::Ptr &cow, const std::unique_ptr< btBroadphaseInterface > &broadphase, const std::unique_ptr< btCollisionDispatcher > &dispatcher)
	Refresh the broadphase data structure.

Variables
const btScalar	tesseract::collision::bullet_internal::BULLET_MARGIN = btScalar(0.0)
const btScalar	tesseract::collision::bullet_internal::BULLET_SUPPORT_FUNC_TOLERANCE = btScalar(0.01) METERS
const btScalar	tesseract::collision::bullet_internal::BULLET_LENGTH_TOLERANCE = btScalar(0.001) METERS
const btScalar	tesseract::collision::bullet_internal::BULLET_EPSILON = btScalar(1e-3)
const btScalar	tesseract::collision::bullet_internal::BULLET_DEFAULT_CONTACT_DISTANCE = btScalar(0.05)
const bool	tesseract::collision::bullet_internal::BULLET_COMPOUND_USE_DYNAMIC_AABB = true

Detailed Description

Tesseract ROS Bullet environment utility function.

Author

John Schulman

Levi Armstrong

Date

Dec 18, 2017

Copyright

Copyright (c) 2017, Southwest Research Institute

Copyright (c) 2013, John Schulman

License

Software License Agreement (BSD-2-Clause)

All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

• Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
• Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Function Documentation

getLinkTransformFromCOW()

btTransform tesseract::collision::bullet_internal::getLinkTransformFromCOW

(

const btCollisionObjectWrapper *

cow

)

This transversus the parent tree to find the base object and return its world transform This should be the links transform and it should only need to transverse twice at max.

Parameters

cow	Bullet collision object wrapper.

Returns

Transform of link in world coordinates

needsCollisionCheck()

bool tesseract::collision::bullet_internal::needsCollisionCheck	(	const COW &	cow1,
		const COW &	cow2,
		const std::shared_ptr< const tesseract::common::ContactAllowedValidator > &	validator,
		bool	verbose = false
	)

This is used to check if a collision check is required between the provided two collision objects.

Parameters

cow1	The first collision object
cow2	The second collision object
validator	The contact allowed validator
verbose	Indicate if verbose information should be printed to the terminal

Returns

True if the two collision objects should be checked for collision, otherwise false

calculateContinuousData()

void tesseract::collision::bullet_internal::calculateContinuousData	(	ContactResult *	col,
		const btCollisionObjectWrapper *	cow,
		const btVector3 &	pt_world,
		const btVector3 &	normal_world,
		const btTransform &	link_tf_inv,
		size_t	link_index
	)

Calculate the continuous contact data for casted collision shape.

Parameters

col	Contact results
cow	Bullet Collision Object Wrapper
pt_world	Casted contact point in world coordinates
normal_world	Casted normal to move shape out of collision in world coordinates
link_tf_inv	The links world transform inverse
link_index	The link index in teh ContactResults the shape is associated with

createShapePrimitive()

std::shared_ptr< BulletCollisionShape > tesseract::collision::bullet_internal::createShapePrimitive

(

const CollisionShapeConstPtr &

geom

)

Create a bullet collision shape from tesseract collision shape.

Parameters

geom	Tesseract collision shape

Returns

Bullet collision shape.

updateCollisionObjectFilters() [1/2]

void tesseract::collision::bullet_internal::updateCollisionObjectFilters	(	const std::vector< std::string > &	active,
		const COW::Ptr &	cow
	)

Update a collision objects filters.

Parameters

active	A list of active collision objects
cow	The collision object to update.

updateBroadphaseAABB()

void tesseract::collision::bullet_internal::updateBroadphaseAABB	(	const COW::Ptr &	cow,
		const std::unique_ptr< btBroadphaseInterface > &	broadphase,
		const std::unique_ptr< btCollisionDispatcher > &	dispatcher
	)

Update the Broadphase AABB for the input collision object.

Parameters

cow	The collision objects
broadphase	The bullet broadphase interface
dispatcher	The bullet collision dispatcher

removeCollisionObjectFromBroadphase()

void tesseract::collision::bullet_internal::removeCollisionObjectFromBroadphase	(	const COW::Ptr &	cow,
		const std::unique_ptr< btBroadphaseInterface > &	broadphase,
		const std::unique_ptr< btCollisionDispatcher > &	dispatcher
	)

Remove the collision object from broadphase.

Parameters

cow	The collision objects
broadphase	The bullet broadphase interface
dispatcher	The bullet collision dispatcher

addCollisionObjectToBroadphase()

void tesseract::collision::bullet_internal::addCollisionObjectToBroadphase	(	const COW::Ptr &	cow,
		const std::unique_ptr< btBroadphaseInterface > &	broadphase,
		const std::unique_ptr< btCollisionDispatcher > &	dispatcher
	)

Add the collision object to broadphase.

Parameters

cow	The collision objects
broadphase	The bullet broadphase interface
dispatcher	The bullet collision dispatcher

updateCollisionObjectFilters() [2/2]

void tesseract::collision::bullet_internal::updateCollisionObjectFilters	(	const std::vector< std::string > &	active,
		const COW::Ptr &	cow,
		const std::unique_ptr< btBroadphaseInterface > &	broadphase,
		const std::unique_ptr< btCollisionDispatcher > &	dispatcher
	)

Update a collision objects filters for broadphase.

Parameters

active	A list of active collision objects
cow	The collision object to update.
broadphase	The collision object to update.
dispatcher	The collision object to update.

refreshBroadphaseProxy()

void tesseract::collision::bullet_internal::refreshBroadphaseProxy	(	const COW::Ptr &	cow,
		const std::unique_ptr< btBroadphaseInterface > &	broadphase,
		const std::unique_ptr< btCollisionDispatcher > &	dispatcher
	)

Refresh the broadphase data structure.

When change certain properties of a collision object the broadphase is not aware so this function can be called to trigger an update. For example, when changing active links this changes internal flags which may require moving a collision object from the static BVH to the dynamic BVH so this function must be called.

Parameters

cow	The collision object to update.
broadphase	The broadphase to update.
dispatcher	The dispatcher.